Dynamic loading criteria in actuator selection for desired dynamic performance

This article presents two methods for selecting actuators based on the dynamic loading criteria which yield a manipulator with a desired level of dynamic performance. Here, dynamic performance is measured in terms of a robot’s acceleration and force capabilities, which describe its ability to accelerate the end-effector and to apply forces to the environment, given the limitations on its actuator torques. The Dynamic Capability Equations are used to model the relationship between actuator torque capacities and the acceleration and force capabilities, because they treat linear and angular quantities in a consistent and physically meaningful way. This article discusses actuator selection for a single conŽ guration, as well as for multiple conŽ gurations.