On the drive train design of gear coupled manipulators.

*(English)*Zbl 0963.70516Summary: We develop a methodology for the drive train design of gear coupled manipulators. The approach is based on the idea that the contribution of the generalized inertia forces to the system’s dynamic equations can be divided into the contribution of the virtual open-loop chain and that of the drive train. It is shown that the contribution of the driven train to the system’s dynamic equations is a function of the orientations of rotational axes and the orientations of joints. We derive conditions to determine these orientations such that the drive train can have onfiguration-invariant contribution to the system’s dynamic equations. From the design conditions, mechanical details of the drive train such as the choice of actuator locations, the arrangements of the drive train and joints, the compatibility between orientations of joints and rotational axes of the drive train can be determined accordingly.

##### MSC:

70B15 | Kinematics of mechanisms and robots |