Research on Acceleration Performance Indices for Serial Mechanism

摘要：

Previous performance indices are generalized and analyzed briefly first of all, then on the basis of first-order and second-order kinematical influence coefficient matrices, including acceleration performance index, linear acceleration performance index, angular acceleration performance index and acceleration global condition performance index and so on, a set of acceleration performance indices for serial robot are proposed. Different from previous indices, these indices include not only the first-order kinematics influence coefficient matrix G, but also the second order kinematics influence coefficient matrix H. Finally, with these performance indices, PUMA 260 serial industrial robot’s dynamic performance are analyzed. The results show that these new indices are feasible in mechanism’s dynamic performance analysis. So these indices can be used to guide the dynamics design of serial mechanism.

关键词： Serial robot Performance index Influence coefficient matrix

作者: Qingjia Geng Lingling Han Xijuan Guo

作者单位: Institute of Information and Engineering University of Yanshan Qinhuangdao,Hebei,China Institute of Information and Engineering University of Resource technology Tangshan,Hebei,China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）