Design architecture for dynamic low inertia multi DOF robotic manipulators

Abstract

This thesis is intended as a background for robotic designers interested in creating low inertia, high bandwidth, multi DOF robotic arms and hands capable of proprioceptive force feedback from the world. This thesis briefly outlines the physics that govern the dynamics of robotic manipulators. It further covers various actuators and transmissions along with their dynamic and mechanical properties. Finally, this thesis covers overall robotic arm and hand architecture; where degrees of freedom can be placed and how actuators can be mounted and transmitted.