Optimum structure design for flexible-link manipulators

In this paper, an index of optimization is proposed for improving the dynamic behavior of structurally flexible manipulators. The improvement is achieved through an optimization scheme where a cost function associated with the lowest natural flexible mode and an index defined as modal accessibility, is optimized subject to certain constraints. The formulation assumes a singularly perturbed model of the flexible-link system as this system possesses two-time scale properties. To illustrate the approach, the design of a two-link, non-uniform, planar, flexible manipulator is considered which results in improved performance characteristics as compared to a uniform manipulator