Expedited Award for Novel Research: Demonstration of Potential for Improving the State of the Art of Mechanical Systems of Robot Manipulators

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This Expedited Award for Novel Research will provide support for a research effort using two industrial robots to demonstrate the positive effects of judicious changes in mechanical systems on robot performance. The following issues are addressed: low inertia/high effective stiffness combination link design; mass counterbalancing; enhancement of transmission stiffness by design means; validation of computer simulations of path deviations. Significant performance improvements (100% to 150% increases in rated payload) are anticipated.