Design of Manipulators Under Dynamic and Kinematic Performances

Abstract

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.