The design of isotropic 6-DOF parallel manipulators using isotropy generators

This paper presents a fast and reliable method of designing isotropic 6-DOF parallel manipulators. In this method, isotropic manipulators can be easily developed from an isotropy generator, which consists of six straight lines satisfying the isotropy conditions. Systems of nonlinear equations developed from isotropy conditions are solved analytically to get all possible generators. Each generator can be used to produce infinite number of isotropic manipulators, and no constraint equation is needed except for some special cases such as the design of symmetric isotropic manipulators.