Romansy 13 pp 241-248 | Cite as

Design of Manipulators Under Dynamic and Kinematic Performances

  • S. Guerry
  • F. B. Ouezdou
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


In this paper the improvement of a preliminary design process based on an iterative and interactive synthesis is proposed. The problem concerns the determination of dimentionnal parameters of a manipulator able to move a payload along a trajectory defined by a parametric curve under kinematic and dynamic performances (requested velocity and wrench at end-effector level with the take into account of bodies inertia properties). A numerical optimization process using a three steps objective function allows us to perform global and local criteria. An example with the synthesis of a 6R manipulator is given to illustrate the validity of the approach.


Joint Torque Kinematic Chain Trajectory Point Joint Velocity Inverse Kinematic Problem 
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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • S. Guerry
    • 1
  • F. B. Ouezdou
    • 1
  1. 1.Laboratoire de Robotique de ParisCNRS-UPMC-UVSQFrance

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