Addressing simplicity, dexterity and usability of compact, multi-degree-of-freedom mechatronic devices

Abstract

Many modern multi-degree-of-freedom mechatronic devices are characterized by considerable and often severe size and weight constraints, and it is therefore desirable to address the design of such devices in a systematic and effective manner. The design evaluation and improvement technique being investigated in this work revolves around three desirable yet often conflicting attributes of devices of this type, being simplicity, dexterity and usability. Detailed qualitative definitions of these terms are proposed. Furthermore, a method that quantifies these design attributes in an arbitrary device of this type is presented. This method is aimed at providing objective measures of the strengths and weaknesses of the design, and the mathematical tool can assist designers and engineers in evaluating, comparing and improving device designs. Towards the end of the paper the methodology is applied to a case study to augment the design process of a minimal anthropomorphic robot hand.