The objective of this research is to investigate a promising theoretical development which could lead to advanced manipulator concepts offering fast dynamic and control features. The application of 'dynamic linearization' to open-chain kinematically redundant planar and spatial manipulator towards the end of determining the feasibility of dextrous robots exhibiting both high mechanical and computational speed is investigated. In comparing planar dynamically linearized manipulators with standard nonlinear designs, it is shown that performance advantages and reductions in joint actuator energy consumption can be realized using relatively simple trajectory optimization schemes. Kinematically redundant planar manipulators are shown to outperform their nonredundant counterparts. The results pertaining to planar manipulators only are summarized.>

A method for the optimum design of manipulator workspace is provided based on a recently established criterion. Analytical and computer-aided procedures are presented for the determination of the geometrical proportions of a manipulator for optimum workspace. An effective algorithm is developed by combining a heuristic optimization technique and a computer program for kinematic analysis of manipulators. Two problems are investigated. The first is concerned with the optimum design of a manipulator that has three revolute joints and a spherical joint at the wrist, called the RRRS manipulator; the second is concerned with the problem of design improvement for five commercial robots for larger workspace volume. The potential applicability of the procedure is demonstrated.