In this paper the concept of feasible workspace regions is introduced and used to design two-revolute manipulators for a workspace prescribed through arbitrarily given workspace points. A design formulation has been proposed to derive an analytical procedure for defining the feasible workspace regions as regions within which feasible solutions for the manipulator design can be obtained. The feasible workspace regions have been geometrically characterized and specific topologies have been shown through illustrative examples. The design algorithm has been completed with a closed form formulation for geometrical parameters and it gives the opportunity to discuss the number and characteristics of multiple solutions.
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