The Design of Planar Serial Manipulators with Decoupled Dynamics Taking into Account the Changing Payload

This paper deals with a new dynamic decoupling principle, which is a symbiosis of mechanical and control solutions. It is carried out in two steps. At first, the dynamic decoupling of the manipulator involves connecting to initial structure a two- link group forming a Scott-Russell mechanism. The opposite motion of links in the Scott-Russell mechanism combined with optimal redistribution of masses allows the cancellation of the coefficients of nonlinear terms in the manipulator's kinetic and potential energy equations. Then, by using the optimal control design, the dynamic decoupling due to the changing payload is achieved. It becomes relatively easy because in the modified structure of the manipulator with two-link group the coupling and the nonlinearity has been cancelled. The suggested design methodology is illustrated by simulations carried out using ADAMS and MATLAB software, which have confirmed the efficiency of the developed approach.