Kinematic and Dynamic Synthesis of Geared Robotic Mechanisms

This paper describes a methodology for the design of geared robotic mechanisms. It is shown that certain gear-coupled manipulators can be designed to possess kinematic isotropy property at a given end-effector position. For these gear-coupled manipulators, the train values can be treated as a product of two-stage gear reductions. The second-stage reduction can be uniquely determined from the kinematic isotropic conditions, while the first-stage reduction can be determined from dynamic considerations. This approach, through proper choice of gear ratios, can provide these gear-coupled manipulators with desired kinematic and dynamic characteristics.