Mechanism design and control of dynamically-coupled driving based manipulator

Usually the dynamic capability of conventional manipulators is limited by heavy structure. Different from those manipulators, human can do many hyper dynamic manipulations while in a smart structure by utilizing dynamically-coupled driving between body and arms. Aiming at improving the dynamic capability of a manipulator in a large extent, a basic concept and general method on the mechanism design and control of the manipulator is proposed, just to simulate the action of human utilizing the dynamically-coupled driving. Furthermore, using joint stop in a manipulator is enhancing the effect of dynamically-coupled driving. To show the feasibility of the proposal, a hyper dynamic manipulator has been fabricated and fundamental experiments have been carried out. Experimental results have shown the important role of the dynamically-coupled driving, to realize an efficient hyper dynamic manipulation while in a smart structure. This paper describes the developed prototype and experimental results.