Motion capability and performance behavior are the essential requirements from the application scenario to the development of robotic mechanism, which lead to three necessary steps including type synthesis, performance modeling, and optimal design. Type synthesis invents all possible topological structures that can realize the desired motions [1, 2]. A promising topological structure is then selected to be the candidate of the mechanism. Corresponding to the required behaviors, performances, such as kinematic, stiffness and/or dynamics of the selected topological structure are modeled and analyzed [3, 4, 5, 6, 7]. These parametric performance models are finally applied to the optimal design [8, 9, 10, 11, 12] which searches for the optimal structural parameters resulting in the robotic mechanism with desired performances.
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