A modular approach for the topological synthesis of geared robot manipulators

A methodology for the modular design of geared robot manipulators (GRMs) is presented. This approach is based on that the kinematic structure of a GRM can be hierarchically decomposed into mechanical transmission lines (MTLs), and input and transmission units. The admissible units are further categorized into modular groups according to their number of links and kinematic characteristics, in which the unit with the least number of links is referred to as a basic unit. Thus, with a given configuration, GRMs can be created from basic MTLs first which contains only basic units, and then modified structures can be obtained by replacing one or more contained units according to specified kinematic requirements. This approach allows the designer to obtain proper mechanical structures to achieve a desired kinematic behavior on the base of the simplest format during the conceptual design stage.