Link Lengths Optimization Based on Multiple Performance Indexes of Anthropomorphic Manipulators

How to determine the optimal link length parameters according task requirements and constraints is a key problem in design of anthropomorphic manipulators. Considering multiple performance indexes such as dexterity end stiffness, this article presents method on how maximally improve comprehensive motion manipulators by optimizing lengths. Firstly, joint ranges human arm are obtained through analyzing mechanism forms. Then kinematics model with configuration established using screw theory, evaluation index for proposed considering Jacobian matrix condition number, manipulability, stiffness. Taking objective function, corresponding optimization optimize lengths both flexibility Through comparative analyses, it can be seen that global value optimized increases about 23.97%, significantly improved.