Loop based pseudo hamming values—II inversions, preferred frames and actuators

Procedure and steps needed to rate the kinematic chains from the structural error point of view are listed. All the 40, nine-link, two degree of freedom chains are rated. The transmission matrix concept to select the best frame and its modification to select the best actuator links are introduced. The results are correlated with the Hamming values of the links based on the link adjacency matrix and with the loop Hamming values. Some general conclusions are drawn so that the best combination of the frame and the actuator links can be chosen simply by the inspection of the chain. Best possible combinations for all the 40, nine-link two degree of freedom chains are tabulated.