Abstract
This article investigates the problem of manipulator design for increased dynamic performance. Optimization techniques are used to determine the design parameters that improve manipulator performance. The dynamic performance of a manipulator is characterized by the inertial and acceleration properties of the end-effector. Our studies of inertial and acceleration properties have provided separate descriptions of the characteristics associated with linear and angular motions. This allows a more physically meaningful interpretation of these properties. The article presents these models, discusses the design optimization criteria, and formulates the optimization problem. The approach is illustrated in the design parameter selection of a parallel mechanism.
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© 1995 Springer Fachmedien Wiesbaden
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Khatib, O., Bowling, A. (1995). Optimization of the Inertial and Acceleration Characteristics of Non-Redundant Manipulators. In: Lückel, J. (eds) Proceedings of the Third Conference on Mechatronics and Robotics. Vieweg+Teubner Verlag, Wiesbaden. https://doi.org/10.1007/978-3-322-91170-4_37
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DOI: https://doi.org/10.1007/978-3-322-91170-4_37
Publisher Name: Vieweg+Teubner Verlag, Wiesbaden
Print ISBN: 978-3-519-02625-9
Online ISBN: 978-3-322-91170-4
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