The optimum design method of the mechanism consisting of a set of link based on the work of actuators

摘要

This paper describes the optimization method of the mechanism consisting of a set of links connected in a chain by joints, such as a robot manipulator. The purpose of the optimization is to design a set of links which is able to move more efficiently in a three-dimensional workspace. The fundamental idea of the optimization is based on minimization of the work of actuators. The work of the actuators is defined as the product of the actuator torque by the rotational angle of the actuator.