On a Decoupled Integrated Design Approach to Robotic Mechanisms

In this paper, we propose a new design process which is called decoupled integrated design process for robotic mechanisms or mechanisms with consideration of their multi-functions and constraints. The example of the functions includes path generation, function generation and rigid body guidance. The example of the constraints includes minimum negative side effects to the environment the mechanism interacts. The proposed design process is a decoupled one, inspired by axiomatic design theory. In particular, the first step of the design process is to analyze the design requirement and design parameter relation, which can be represented by a correspondence matrix. When the correspondence matrix is a triangular one, the corresponding design problem is called a decoupled design problem. Subsequently, we propose a decoupled integrated design process which is applied to a decoupled problem. Throughout the paper, we take a 2-DOF five-bar mechanism as an example; yet the approach is applicable to any kind of dynamic systems.