On design optimization of robot limbs

摘要

Along with the basic design requirement to mobile robots (MR) for strength/load capacity, additional design considerations are needed to meet the continuously increasing demands for faster response, higher positioning accuracy and lower energy consumption. MRs, or any limb of them, present functionally directed assemblies of, basically, four mutually influencing components: control, actuator, mechanical, and sensor subsystems. The problem is to design the subsystems and their interconnections such as to provide MR with maximum capability for robust controllability. The proposed design recommendations lead to optimal ratios between links' lengths and masses and they do not conflict with the basic design requirement.