Majid Moghaddam - Assistant professor , engineering faculty tarbiat modarres university
M Daryanavard - Msstudent engineering faculty tarbiat modarres university

In this paper , a 4DOF manipulator which can install on a mobile robot is optimized with geometrical kinematics theorems such as Dexterity . Task based approach for optimizing geometrical kinematics factors is compared with global approach . The task based approach involves five different tasks . The difference between the task base approach and the global approach varies up 18 percent for some tasks.

Robotic Manipulator , Dexterity, Optimezing, Kinematics Design.