Coupling Character and Optimal Design of Multi-link Robot Manipulators with Flexible Joints and Links

Coupling character of the joint and link flexibility is studied based on the finite element model of the dynamic system. It is found that the advantageous the soft and disadvantageous rigid coupling regions in terms of the two ratios of the system. Thus an optimizing method for minimzing the total mass on the robot with flexible joints and links is presented by restricting the structure parameters in the advantage coupling region, to make good use of the advantageous coupling and material.