Integrated approach to electromechanical design of a digitally controlled high precision actuator for aerospace applications

The paper proposes an integrated approach to the design of robotic manipulators, addressing both the mechanical and control system aspects within the same mathematical framework in order to facilitate the design optimization. The integration of the mechanical, electrical, and controller design aspects, combined with parameter optimization, results in a significant reduction of the cost and duration of design efforts and facilitates flexible manufacturing of the device for a wide variety of applications. The methodology is demonstrated by its application to a known device, the Omni-Wrist III.