Harmonic maps and the optimal design of mechanisms

Certain problems in the design and analysis of kinematic chains using the theory of harmonic maps are addressed. It is shown that this theory provides interesting results on the treatment of optimal geometries for both the redundant and nonredundant cases and provides a reliable numerical criterion for dexterity. Examples of simple manipulators illuminate the key features of the distortion measure introduced and suggest ways to address other issues arising in the design and analysis of mechanisms