This article is concerned with the effects of actuation schemes on two matrices used to specify inertial characteristics for serial manipulators, namely the matrices which define the Generalized Inertia Ellipsoid and the Dynamic Manipulability Ellipsoid. These matrices characterize the inertial properties of the end-effector as perceived at the end-effector and at the joints, respectively. We begin by presenting a framework on how to incorporate actuator locations and drive train ratios in these matrices. For each matrix we derive properties relating its joint space to its actuator space description. We show how the choice of actuation schemes influence the xize, shape, and orientation of the ellipsoids. Finally, we employ these concepts in the design of a 2R planar mechanical arm in which the transmission ratios and drive mechanisms are selected so as to improve its dynamic characteristics.
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