The generalized principle of inertia match for geared robotic mechanisms

The principle of inertia match is extended from one-degree-of-freedom (DOF) systems to multi-DOF systems. Based on the concept of maximum acceleration capacity, a methodology for the determination of gear ratios in geared robotic mechanisms is developed. It is found that, in the optimum design, the mass inertia matrix of the input links reflected at the joint-space is equal to that of the major links, and the maximum acceleration capacity is independent of the gear train arrangement. Several two-DOF geared robotic mechanisms are used as design examples to illustrate the principle. Using this methodology, mechanisms can be designed to yield optimum dynamic performance