Kinematic and Dynamic Synthesis of Geared Robotic Mechanisms
Kinematic and Dynamic Synthesis of Geared Robotic Mechanisms
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Date
1990
Authors
Chen, Dar-Zen
Tsai, Lung-Wen
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Abstract
This paper describes a methodology for the design of geared robotic mechanisms. We have shown that certain gear-coupled manipulators can be designed to possess an isotropic condition at a given end-effector position. For these gear-coupled manipulators, the train values can be treated as a product of two-stage gear reductions. The second-stage reduction can be uniquely determined from the kinematic isotropic condition, while the first-stage reduction can be determined from dynamic consideration. This approach, through proper choice of gear ratios, can provide these gear-coupled manipulators with desired kinematic and dynamic characteristics.