A computer integrated development system for high speed robot design incorporating structural reconfiguration

A methodology for developing high-speed robots is presented. All the design, prototyping, and experimentation processes required are integrated and carried out under computer control. Based on the experimental results of a prototype, the design is modified, and the experiments are repeated for the new design to reevaluate its performance. The whole process is repeated until given specifications have been satisfied. To expedite the whole development process, the rapid prototyping technique using photo-polymerization is employed, experiments are conducted automatically, data are analyzed, and design changes are determined by use of an online computer. The basic concept of computer-integrated development is described. A proof-of-concept demonstration system for developing a high-speed robot arm is presented. A simple strategy for modifying arm design based on experimental data is addressed, and initial experimental results are described