The further development and refinement of an expert-systems approach to the creative design of mechanisms and mechanical systems

The research has been concerned with a comprehensive analysis of robotic end effectors including frictional energy dissipation and rigid-body as well as flexible elements. The design analysis involves a set of nonlinear simultaneous equations for quantifying such phenomena as preloads, internal forces, frictional drag, kinematic and dynamic performance and optimization criteria, energy losses and efficiency. The analysis facilitates the optimization of robotic systems in the design stage. A new concept, which we may call a cylindrical actuator, was developed in the course of the research (and communicated to the U.S. Army Research Office (ARO)) and may have significant applications, both in robotics, as well as in other areas of mechanical design.