OPTIMAL DYNAMIC DESIGN OF ANTHROPOMORPHIC ROBOT MODULE WITH REDUNDANTACTUATORS

In this paper, a study on the optimal dynamic design for an anthropomo rphic robot module with redundant actuators is performed. Musculoskele tal structure of human body is a typical example of redundantly actuat ed mechanism, and provides superior features than general robotic mech anisms. An anthropomorphic robot module that resembles the structure o f human upper limb is introduced to utilize the advantages of redundan t actuation system. Optimal dynamic design of the proposed robot modul e 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 compo site design index based on max-min principle of fuzzy theory is employ ed to deal with multi-criteria based design. As a result of dynamic op timization, a set of dynamic parameters, representing optimal mass dis tribution 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.