Minimum Energy Manipulator Design
Research in the optimum design of a manipulator has taken different directions. One of those was to define the kinematic or dynamic parameters that determine the characteristics of the manipulator in order to justify the best design. In most of the studies that are under way, the possible solutions are restricted to one feasible region in which all of the geometrical and dynamic restrictions as well as the power input on the drives have to be met with. However, all these approaches lead to multiple solutions, since they are all within the feasible region, and it is as of yet unknown which of those solutions is best. This paper tries to give a solution through an energy approach where the optimum design in a multiple link system can be chosen, taking into account the trajectory and the structure of the links, be it a serial or a parallel link system.
Key wordsdesign manipulators energy saving parallel singularities
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