Design of macro/mini manipulators for optimal dynamic performance

This article investigates the problem of redundant manipulator design for optimal dynamic performance as applied to the design of macro/mini structures. The dynamic performance of a manipulator is characterzzed by the inertial and acceleration properties of the end-effector. However, for redundant manipulators the characteristics of motions in the end effector null space must also be considered. This article presents a methodology for analyzing the performance requirements for the null space motions. The analysis results in a decomposition of the overall design problem into a set of smaller subproblems. Optimization techniques are then used to determine the design parameters which improve manipulator dynamic performance. The decomposition greatly reduces the search space of the overall optimization. Here this methodology is presented along with the models and measures upon which it is based. The approach is illustrated in the selection of design parameters f o r a simple siz-degree-of-freedom planar mechanism.