K.-K. Lee, M. Haehnle, and G. Hirzinger (Germany)
optimal design; robot links; link profile; torque minimiza tion
This study was aimed at optimizing the structural design of the robot in regards to two main aspects: link shape and link dimension. This paper presents a method to find an op timal function of link cross-sectional radius that provides uniform bending stress along the length of a hollow shaft. This method was successfully applied to some other cases such as a hollow rectangle. We also present a method to determine the optimal link lengths of a manipulator with six revolute joints based on the method introduced in [1]. These optimized dimensions minimize average required torque at each joint.
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