A procedure for the automated sizing of spatial servo mechanisms is presented. The design performance is measured by means of a work task moving a payload from one point to another within a certain time. The design variables are composed of continuous and discrete parameters with the latter associated with the servo motor and planetary gears making up the servo drive. The costs are identified as the main objective for minimization whereas a number of side constraints related to accuracy, fatigue, vibrations and thermal conditions are presented and formulated mathematically. The two-level design procedure generates design from a motor and gear database that a subsequently subjected to minimization with a view to eliminate any constraint violations. The least costly of the feasible design are considered the optimal.

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