Parametric design optimization of 2-DOF R–R planar manipulator—A design of experiment approach

This work illustrates simulation approach for optimizing the parametric design and performance of a 2-DOF R–R planar manipulator. Using dynamic and kinematic models of a manipulator different performance measures for the manipulator are obtained for different combination of parameters with effect of noise incorporated to imitate the real time performance of the manipulator. A novel approach has been proposed to model, the otherwise difficult to model, noise effects. The data generated during simulation for various parameter combinations are utilized to analyze the statistical significance of kinematic and dynamic parameters on performance of manipulator using ANOVA technique. The parameter combinations, which give optimum performance measures obtained for different points in workspace, are compared and reported.