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| 1.72 MB | Adobe PDF |
Advisor(s)
Abstract(s)
Robotics is an area encompassing a wide range of industrial, technological and scientific applications. Still, many of them pose challenging issues to the available industrial manipulators. The superior performances of the human arm induced an extensive research towards better mechanical structures. In this line of thought, considerable research has been done either on the kinematics Tsai and Soni (1), Asada (2) or the dynamics Yoshikawa (3,4), Youcef-Toumi and Asada (5). However, a simple optimization criterion comprising both the kinematics and the dynamics is still lacking. In the present paper we address this problem, and our presentation is organized as follows. In section two the robot manipulator model and the associated optimization criterion are discussed. In section three a new model leading to natural optimization criterion is formulated and applied to a 2R robot manipulator. Finally, in section four conclusions are drawn.