A Synthesis of Robotic Mechanisms Suitable for Specified Usage Based on the Evaluation of the Plural Mechanism-Characteristics.

Abstract

This paper proposes the synthesis method of the robotic arm and leg mechanisms suitable for the specified usage of robots. The adequate mechanism configurations will be decided through the use of the heuristic algorithms proposed by S. Lin, et al. The method will search the optimum mechanism-configuration by operating the matrix composed of the design variables on robotic mechanisms. This optimization method needs the function that can simultaneously evaluate the plural characteristics of robotic mechanisms. However, those characteristics are considerably different in unit and range. Thus the present study proposes new design data that show the cumulative frequency distributions on the static characteristics of robotic mechanisms. The proposed data permit the concurrent evaluation of different plural characteristics by their cumulative relative frequencies as a common criterion. Furthermore, this study describes that the importance of each mechanism characteristic to the usage of a robot is utilized as the limit condition for the synthesis of robotic mechanism. The present paper confirms that the proposed method will determine the robotic mechanisms suitable for their usage.