ABSTRACT
With the development of robotic arms for reasons of economy and efficiency, it is necessary to design light weight robotic arms. This study introduces a new design method for drive train of light weight robotic arms in order to optimize rapid convergence. This method is based on a power density curve, which describes the relationship between the power of the drive trains and its mass. The power density curve of drive trains can be drawn by combining the candidate motors and gears. First, we build a structural model and optimize its structural parameters, which is basic data to design drive train of light weight robotic arms. Then, we apply some design criteria for the drive train and compare this method with a referenced method. Finally, we present an example to verify the validity of our proposed method.
