GUO Liangkang, HUANG Yuzhong. Study on the Dynamic Optimization Synthesis of Robot Manipulators[J]. ROBOT, 1987, 9(2): 1-6.
Citation: GUO Liangkang, HUANG Yuzhong. Study on the Dynamic Optimization Synthesis of Robot Manipulators[J]. ROBOT, 1987, 9(2): 1-6.

Study on the Dynamic Optimization Synthesis of Robot Manipulators

  • A dynamic optimization synthesis method which is suitable for multidegree-of-freedom robots is presented in this paper according to the effects of mechanismparameters of a manipulator on its dynamic property.This method is to gain theoptimal dynamic characteristics by means of computer-aided optimal design of theparameters of a manipulator mechanism meeting the needs of kinematics.After stu-dying and analyzing robot dynamics,three evaluation functions are defined in thispaper,The functions reflect robot dynamic performance from various points of view.
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