KINEMATIC AND DYNAMIC SYNTHESIS OF GEARED ROBOTIC MECHANISMS

This paper describes a methodology for the design of geared robotic me chanisms. It is shown that certain gear-coupled manipulators can be de signed to possess kinematic isotropy property at a given end-effector position. For these gear-coupled manipulators, the train values can be treated as a product of two-stage gear reductions. The second-stage r eduction can be uniquely determined from the kinematic isotropic condi tion, while the first-stage reduction can be determined from dynamic c onsideration. This approach, through proper choice of gear ratios, can provide these gear-coupled manipulators with desired kinematic and dy namic characteristics.