Kinematic/kinetic, and dynamic performance synthesis for multi-DOF mechanisms. (Volumes I and II)

The objective of this research is to develop synthesis and analysis methodologies and tools required for efficient design of multi-DOF mechanisms considering high quality motion performance. Two research areas regarding performance synthesis of multi-DOF mechanisms are studied.;In the area of kinematic/kinetic performance synthesis, analytical and graphical performance tools for multi-DOF mechanisms are developed. Critical performance points in the mechanism workspace are identified and utilized for design. The performance distribution maps plotted in the mechanism's workspace and geometry design space are suggested. Performance synthesis examples of planar and spatial mechanisms are illustrated. A computerized mechanism performance synthesis procedure with geometric error perturbation for a generalized 3R spatial mechanism is introduced. In addition, kinematic/kinetic performance index sensitivities associated with mechanism geometric parameters are derived to form a new set of sensitivity synthesis tools. Design guidelines for minimizing the kinematic/kinetic performance sensitivity subjected to mechanism geometric errors are proposed.;A second area of new development deals with the dynamic contour tracking performance synthesis for multi-DOF mechanisms. A new approach of 3D dynamic error attributed to a multi-DOF robotic mechanism based upon a "relaxed performance measure" is introduced. This approach addresses the importance of phase shift characteristics of axis dynamic response in improving multi-axis contour tracking performance, an issue which has been neglected by most researchers. Generalized dynamic error models describe the relationship between contour tracking error and robot axes frequency domain transfer function gain and phase mis-matching between coordinated motion robot axes. A dynamic synthesis algorithm based on gain and phase shaping for axis compensator design is demonstrated on a realistic robot control architecture.