Synthesis and dynamics of statically balanced direct-drive manipulators with decoupled inertia tensors

This paper addresses conceptual design of direct-drive manipulators which have good promise for high speed, high precision manipulation. In the design methodology presented, the procedure begins by considering the kinematic aspects and ends by configuring manipulator structures with promising kinematic and dynamic characteristics. Based on the conceptual design considerations, two novel manipulator designs, a 2 and 3 DOF manipulator, are …