Abstract: This paper is concerned with the dynamic merit of robot manipulators and the method for the optimization of dynamics in manipulator design. The optimization of manipulator dynamics in worst case design can be put into three categories; 1.Acceleration Performance Index: minimize τa(b); 2.Velocity Performance Index; minimize τc(b); 3.Comprehensive Performance Index: minimize τac(b); The optimization problem has been expressed as the minimum with respect to the design parameters and constraints of these performance indice. At last, a simple two-degree of freedom mechanism arm is used to illustrate this method.

Key words: Minimax, 机器人动力学, 性能指标, 优化设计