On the performance evaluation and analysis of general robots with mixed dofs

This paper deals with the kinetostatic performance evaluation regarding translational and rotational motions of general robots with mixed operational degrees of freedom (dofs). Also, robots with different types of actuators can be analyzed based on the same approach without any problem. Besides, the generality of the approach embraces serial, parallel, actuatedly or kinematically redundant robots. The paper seeks clarifying the issue and providing a relevant solution. It also clarifies some other useful points in this matter.