Abstract

This study proposes a structural synthesis methodology called as method of divisions to be utilized in the designs of platform type overconstrained manipulators. Proposed methodology focuses on the construction of manipulator subsections in lower subspaces of the main target subspace. It includes two distinct approaches as vertical and horizontal divisions, where they result in different manipulator structures even they have the same topological representations. Throughout the study proposed method was explained in detail along with revisited rules of joint distribution, and constructed platform type overconstrained manipulators.