Application of the redundant servomotor approach to design of path generator with dynamic performance improvement

In a companion paper published elsewhere [4], we proposed a design approach based on the general redundancy concept to improving the dynamic performance of a mechanism, especially shaking moment and driving torque attenuation. The approach was based on the redundancy function of the servomotor, so the approach is called redundancy servomotor (RSM). In this paper, we apply the RSM to the path generator problem in mechanism design. We will demonstrate how path generator design and dynamic performance improvement can be performed in an integrated manner with the RSM approach. The proposed RSM design procedure can be applied to any type of path generators (four-bar linkage, five-bar linkage, etc.). The contribution of this paper is the proposed RSM design procedure and technique with which to result in a path generator with a better dynamic performance. The other contribution is the proposed approach to the design of the servomotor's trajectory or plan, which is useful to the joint-level path planning problem in robotics.

► Studied concurrent design of mechanisms for path generation and dynamic balancing.
► Proposed a decoupled design process for different design goals and constraints.
► Completely balance shaking moments at required points under static balancing.