Performance Evaluation of Manipulators with Links of Different Cross Sections

Abstract

This manuscript identifies the cross section with best positional performance of a arm at the target by using cross section induced dynamic model. The intent here is to obtain high accuracy at the target, and relax the sophistication and effort required to design a sophisticated controller. To illustrate the application, a manipulator with a rotary joint and 1-DOF with different cross sections are compared and here mass as well as same area of cross section are assumed to same. A probabilistic worst-case technique is used to perform the numerical simulations as an alternative to computationally intensive Monte Carlo simulation technique. Finally, different performance measures from arm with different cross sections are used for comparison and results are summarized.