Synthesis of robot manipulators with specified properties

Abstract

This article considers new formulas for calculating the resultant of system of force and the moment of system of forces about point of body acting in joints of the robot manipulator (RM). The derivation of the RM dynamics equations and the solution of the RM synthesis problem with given properties are shown using these formulas. As an example, three RM with 3, 4 and 6 degrees of freedom are synthesized. The dynamic equations have the simplest form, it allows to solve the problems of optimal control easily.