Issue: August 2015
In this work we address a variation on the traditional rigid body guidance problem; the challenge of designing a mechanism to move something from “here” to “there”. The specific variation we address is the so called mixed exact and approximate synthesis problem in which the object is to begin and end its motion at precise positions and in between come as close as possible to an arbitrary number of guiding positions that have been chosen to shape the emotion of the object as it travels from “here” to “there”.
A new approach to the design of a lightweight robotic arm for service applications is proposed. The robot kinematics, dynamics, drive-train design and structural strength analysis are coupled together to form the optimization design approach. The major design objective is to achieve a lightweight robot with desired kinematic performance and compliance.