Design for High Dynamic Performance robot Based on Dynamically Coupled Driving and Joint stops

Abstract

A new design approach is proposed for high dynamic performance robots, such as robots performing high-speed dynamic motions. This method is based on the utilization of dynamically coupled driving and joint stops. In the method, the dynamic performance index (DPI) formulated by the desired maximum motion specifications and the boundary conditions on initial/final configurations are combined to form a design index (DI) first. Then a dexterous mechanism consisting of very light actuators and links is initially designed under an assumption of utilizing dynamically coupled driving and joint stops. By increasing the load capabilities of the actuators step by step, an iterative process of searching for the solution of DI=0 with minimal torque needs is implemented to validate and improve the initial design. This process yields a robot that is lighter than conventional robots and capable of performing dynamic motions more efficiently by utilizing dynamically coupled driving and joint stops. Based on the method, a two-link golf swing robot performing high-speed swings is designed. Simulation results indicate the method can reduce the needs for the torque and power as compared with conventional design methods. The experiment clearly illustrates the merits of the method.