Synthesis, Analysis, and Design of Typical Robotic Mechanism

  • Tao SunEmail author
  • Shuofei Yang
  • Binbin Lian
Part of the Springer Tracts in Mechanical Engineering book series (STME)


Motion capability and performance behavior are the essential requirements from the application scenario to the development of robotic mechanism, which lead to three necessary steps including type synthesis, performance modeling, and optimal design. Type synthesis invents all possible topological structures that can realize the desired motions [1, 2]. A promising topological structure is then selected to be the candidate of the mechanism. Corresponding to the required behaviors, performances, such as kinematic, stiffness and/or dynamics of the selected topological structure are modeled and analyzed [3, 4, 5, 6, 7]. These parametric performance models are finally applied to the optimal design [8, 9, 10, 11, 12] which searches for the optimal structural parameters resulting in the robotic mechanism with desired performances.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.School of Mechanical EngineeringTianjin UniversityTianjinChina

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