...Kai Yang; Chenglin Gu Manipulators of high accuracy and flexibility call for very strict requirements when their actuating mechanisms are downsized at the millimeter scale, which opens up the investigation of several novel actuator technologies such as those relying on piezoelectrics and shape...

... outperforms the PB method on solving several systems of equations in 30 variables which are derived from the five precision-position motion generation problem of spatial RRR manipulators. In the paper, tunneling functions are also introduced to exclude degenerated solution sets in several synthesis problems...