Simplification and Linearization of Manipulator Dynamics by the Design of Inertia Distribution

Abstract

This paper presents a new approach to designing a simple manipulator with better dynamic behavior. The method is based on eliminating coefficients of nonlinear terms in the system's kinetic and potential energy equations. Accordingly, a set of design criteria regarding the link's inertia distribu tion can be established for each robot type. A robot designed to satisfy these criteria will result in much simplified dy namics. Also we find that for some configurations of three- and four-link robots, it is possible to design for completely linearized dynamic equations.