Evaluation of the reduction of dynamical coupling for robot manipulators

Abstract

The problem of evaluation of the reduction of dynamical coupling in rigid serial manipulators is presented in the current paper. The proposed strategy is based on first-order equations of motion expressed in terms of normalized generalized velocity components, which result from decomposition of the manipulator mass matrix. The principal activity of the study relies on an algorithm in which some evaluation criteria as well as some indexes are used. The presented approach is important, mainly for manipulators with a direct drive arm at their design stage. Simulation results on a three-degree-of-freedom (3-DOF) spatial manipulator are given in order to illustrate the offered method.

Keywords

Manipulators first-order equations of motion dynamics inertia matrix

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