Dimensional synthesis of spatial manipulators for velocity and force transmission for operation around a specified task point

TL;DR

This paper develops a systematic method for the dimensional synthesis of spatial manipulators by optimizing manipulability around a task point, providing design prescriptions for manipulators with enhanced velocity and force transmission.

Contribution

It introduces a comprehensive approach to optimize manipulator dimensions for various degrees of freedom based on manipulability around a specific task point.

Findings

Optimized manipulator dimensions for 1-4 DOF manipulators.

Prescriptions include scaled condition numbers and indices.

Method applicable to a wide set of spatial manipulators.

Abstract

Dimensional synthesis refers to design of the dimensions of manipulators by optimising different kinds of performance indices. The motivation of this study is to perform dimensional synthesis for a wide set of spatial manipulators by optimising the manipulability of each manipulator around a pre-defined task point in the workspace and to finally give a prescription of manipulators along with their dimensions optimised for velocity and force transmission. A systematic method to formulate Jacobian matrix of a manipulator is presented. Optimisation of manipulability is performed for manipulation of the end-effector around a chosen task point for 96 1-DOF manipulators, 645 2-DOF manipulators, 8 3-DOF manipulators and 15 4-DOF manipulators taken from the result of enumeration of manipulators that is done in its companion paper devoted to enumeration of possible manipulators up to a number of links. Prescriptions for these sets of manipulators are presented along with their scaled condition numbers and their ordered indices. This gives the designer a prescription of manipulators with their optimised dimensions that reflects the performance of the end-effector around the given task point for velocity and force transmission.