An approach to flexible link robots gearbox design

This paper introduces an approach to a new criterion in gearbox ratio selection for one-link flexible robots. Unlike the rigid arm criterion, the new criterion is related to the tip trajectory, giving a rather "dynamic criterion". Meanwhile, the rigid case can be defined as a "static criterion" due to its independence from the trajectory topology and flexible dynamics. Then, based on the use of (at least) four times differentiable trajectories, the criterion is stated; therefore mechanical and electrical restrictions allow for the criterion to be set. Finally, a set of examples based on real platforms is exposed and results of the new criterion are compared with those of the rigid case.