Computer study on the effect of an articulated robot's parameters on its dynamic characteristics under different balancing conditions

This paper presents a study which was conducted on the effect of a robot's geometrical parameters on its dynamic performance under different balancing conditions. This research was undertaken in pursuit of an optimal dynamic performance of industrial robots. In this study an indicator was established to quantitatively measure the dynamic performance of a robot arm with respect to changes in the geometrical parameters under different balancing conditions.