Abstract
In this paper, a study on the optimal dynamic design for an anthropomorphic robot module with redundant actuators is performed. Musculoskeletal structure of human body is a typical example of redundantly actuated mechanism, and provides superior features than general robotic mechanisms. An anthropomorphic robot module that resembles the structure of human upper limb is introduced to utilize the advantages of redundant actuation system. Optimal dynamic design of the proposed robot module that follows optimal kinematic design is carried out to maximize the advantages. Five design indices are introduced, which are associated with inertia matrix, inertia power array representing nonlinear terms and gravity terms of the dynamic modeling equation. A concept of composite design index based on max-min principle of fuzzy theory is employed to deal with multi-criteria based design. As a result of dynamic optimization, a set of dynamic parameters, representing optimal mass distribution of the manipulator is obtaind. It is shown that the dynamic optimization yields a notable enhancement in dynamic performances, as compared to the case of kinematic optimization only.
Similar content being viewed by others
References
Freeman, R. A. and Tesar, D., 1988, “Dynamic Modeling of Serial and Parallel Mechanisms/Robotic Systems, Part 1-Methodology, Part II-Applications,”Proc. 20th ASME Biennial Mechanisms Conf., DE-Vol. 15-3, pp. 7–27.
Hogan, N., 1985, “The Mechanics of Multi-Joint Posture and Movement Control,”Biological Cybernetics, Vol. 52, pp. 315–331.
Kang, H. J., Yi, B-J., Cho, W. and Freeman, R. A., 1990, “Constraint-Embedding Approaches for General Closed-Chain System Dynamic in Terms of a Minimum Coordinate Set,”The 1990 ASME Biennial Mechanism Conf., DE-Vol. 24, pp. 125–132.
Klir, G. J. and Folger, T. A., 1988,Fuzzy Sets, Uncertainty, and Information, Prentice Hall, U. S.A., p. 31.
Lee, D. G., Jeong, K. S., Kim, K. S. and Kwak, Y. K., 1993, “Development of the Anthropomorphic Robot with Carbon Epoxy Composite Materials,”Composite Structures, Vol. 8, No. 5, pp. 644–651.
Lee, S. H., Yi, B-J. and Kwak, Y. K., 1994. “Optimal Design of Closed-Loop Type Robot Module with Redundant Actuation,”2nd IFAC/IFIP/IFORS Workshop on Intelligent Manufacturing System, Vienna, pp. 569–573.
Lee, S. H., Yi, B-J. and Kwak, Y. K., 1995, “Performance Analysis and Optimal Actuator Sizing for Anthropomorphic Robot Module with Redundant Actuation,”Trans. of The Korean Society of Mechanical Engineers, Vol. 19, No. 1, pp. 181–192.
Park, H. S. and Cho, H. S., 1991, “General Design Conditions for an Ideal Robotic Manipulator Having Simple Dynamics,”Int. J. Robotics Research, Vol. 10, No. 1, pp. 21–29.
Singh, J. R. and Rastegar, J., 1992, “Optimal Synthesis of Robot Manipulators Based on Global Dynamic Parameters,”Int. J. of Robotics Research, Vol. 11, No. 6, pp. 538–548.
Spence, P. A., 1986,Basic human anatomy, The Benjamin/Cummings Publishing Co. Inc., 2nd Ed.
Yi, B-J. and Freeman, R. A., 1991, “Modeling and Control of Impedance Properties in Biomechanical Systems,”Proc. ASME WAM, Advances in bioengineering BED-Vol. 20, pp. 521–524.
Youcef-Toumi, K. and Asada, H., 1987, “The Design of Open-Loop Manipulator Arms with Decoupled and Configuration-Invariant Inertia Tensors,”ASME J. Dynamic systems, Measurement, and Control, Vol. 109, pp. 268–275.
Yuan-Chou, B. C., 1985, “Computer-Aided Optimization in the Dynamic Analysis and Parameteric Design of Robotic Manipulators,” Ph.D. Thesis, Univ. of Florida, Gainsville.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Lee, S.H., Yi, BJ. & Kwak, Y.K. Optimal dynamic design of anthropomorphic robot module with redundant actuators. KSME Journal 10, 265–276 (1996). https://doi.org/10.1007/BF02942635
Received:
Issue Date:
DOI: https://doi.org/10.1007/BF02942635