On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators

Damien Chablat (1) , Jorge Angeles (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 CIM - Centre for Intelligent Machines

Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying Jacobian matrix to a given isotropic matrix that is used as a reference model for purposes of performance evaluation. Applications of the index fall in the realm of design, but control applications are outlined. The paper focuses on planar manipulators, the basic concepts being currently extended to their three-dimensional counterparts.

Mots clés: Serial mechanism; Optimization; Isotropic configuration; characteristic length

Domaines: Robotique [cs.RO]

Damien Chablat, Jorge Angeles. On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators. Mechanism and Machine Theory, 2002, pp.351-374. ⟨hal-00145154⟩