Dynamic Performance Enhancement Design of Robot Based on Dynamically-Coupled Driving and Joint Stop

A new design method based on the utilization of dynamically-coupled driving and joint stops is proposed for high dynamic performance robots, such as the robot performing high-speed dynamic motions. In the method, the desired dynamic performance and the boundary conditions of the dynamic motion are combined to be a design index (DI) first. Then the robot is initially designed by selecting light actuators and links under an assumption of utilizing dynamically-coupled driving and joint stops. By increasing the actuator capabilities step by step, an iterative process of minimizing DI is implemented to yield a robot that is lighter than conventional robots and capable of performing dynamic motions more efficiently by utilizing dynamically-coupled driving and joint stops. Based on the method, a two-link golf swing robot performing high-speed swings is designed. Simulation results indicate the method can reduce the needs for the torque and power as compared with conventional design methods. The experiment illustrates the dynamically-coupled driving and the joint stops can be used