Abstract: This paper is concerned with
the dynamic merit of robot and the method for the optimization
of dynamics in robot design. The optimization of robot dynamics
in the worst case design can be put into three categories: 1.
Acceleration performance index; 2. Velocity performance index;
3. Comprehensive performance index. The optimization problem has
been expressed as the minimum with respect to the design
parameters and constraints of these performance indices. At
last, a simple two-degree-of-freedom mechanism arm is used to
illustrate this method.
Key words:
Performance index Optimization Minimax Robot dynamic
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