Dynamic Decoupling of Robot Manipulators: A Review with New Examples

In this chapter, a review of the main methods permitting to achieve the dynamic decoupling of robot manipulators is presented. The design approaches based on the variation of mechanical parameters are disclosed via three sub-groups: decoupling of dynamic equations via mass redistribution; decoupling of dynamic equations via actuator relocation and decoupling of dynamic equations via addition of auxiliary links. The last approach is illustrated via two examples. In the first solution, the optimal design is achieved via gears used as counterweights. It is allows a considerable reduction of the total masses of links of the decoupled manipulator. In the second solution, the dynamic decoupling of robot manipulators is achieved by using an epicyclic gear train. Special attention is paid to the dynamic decoupling of robot manipulators through the use of the double integrator. The second-order linear and time-invariant dynamical system, called double integrator, is one of the most fundamental systems in control applications. It can be considered as single-degree-of-freedom translational and rotational motion. The present review considers in detail the aim of this solution, as well as the advantages of the joint application development inclosing mechanical and control solutions.