Modular Decomposition for Optimal Dynamic Design of Redundant Macro/Mini Manipulators

This article investigates the design of redundant mechanisms for improved dynamic performance. Our study has resulted in a new methodology which allows the decomposition of the design problem into smaller, more manageable problems. With this method, a redundant mechanism is subdivided into a chain of non-redundant subsystems which can be designed separately. The result is a highly efficient design process.