Design of non-redundant manipulators for optimal dynamic performance

This article investigates the problem of robotic manipulator design for optimal dynamic performance. We present a design methodology which consolidates some of the major issues related to manipulator dynamic performance. These issues are related to workspace volume, actuator selection, control authority, inertial properties, and acceleration capability. This is accomplished using a characterization of end effector acceleration properties. Performance measures obtained from this characterization are used within an optimization procedure to determine the design parameters which improve manipulator dynamic performance. The approach is applied to the problem of design parameter selection for a simple three degree-of-freedom planar mechanism.