An innovative method for sizing actuating systems of manipulators with generic tasks

This paper describes an innovative method for the design of the driving system for manipulators whose task is a generic handling within a workspace, in particular robotic simulators. For those mechanisms the choice of an actuating system of the correct size is particularly arduous. As a matter of fact, tipically the requirements for the machine are described in the workspace, but the intrinsically complex kinematics make difficult to understand which is the case that requires the highest dynamic performances. Analyzing all the possible combinations of the parameters that characterize the motion of the end-effector would require an incredible computational burden, and that’s the reason why a statistical method is taken into account: in particular the sizing process described in this paper relies on the Monte Carlo Method. In order to show the its effectiveness, its implementation in a particular application is presented.