Kinematic and kinetic performance are important issues in designing multi-degree of freedom mechanisms such as robotic manipulators. In the engineering design stage, it is especially important that the designer can grasp the characteristics of the mechanism. The aim of this study is to develop a means of representing the kinematic and kinetic performance of the mechanism in such a way that the performance characteristics are quantified analytically and visible graphically to the designer in their entirety in the conceptual design stage. Various performance indices derived from the Jacobian matrix and its quadratic form. These performance indices are the local kinematic cross-coupling index, the local directional mobility index, and the local efficiency index. Graphical images of these performance characteristics using eigen-ellipsoid and workspace trajectory contours are introduced. Critical performance points in mechanism workspace are identified and elaborated for design considerations. Based on the graphical representation of these performance characteristics, design rules for achieving different performance objectives can easily be implemented. This method is applicable to computer-aided design of a mechanism and predetermination of its kinematic and kinetic performance.
|Original language||English (US)|
|Title of host publication||Finite Elements/Computational Geometry; Computers in Education; Robotics and Controls|
|Publisher||American Society of Mechanical Engineers (ASME)|
|Number of pages||10|
|ISBN (Electronic)||9780791806234, 9780791897768|
|State||Published - 1991|
|Event||ASME 1991 Design Technical Conferences, DETC 1991 - Miami, United States|
Duration: Sep 22 1991 → Sep 25 1991
|Name||Proceedings of the ASME Design Engineering Technical Conference|
|Conference||ASME 1991 Design Technical Conferences, DETC 1991|
|Period||9/22/91 → 9/25/91|
Bibliographical noteFunding Information:
The authors would like to thank the National Science Foundation for their support of this research under grant No. MSS-9012456. Also the help of Mark Benner in reviewing the manuscript is appreciated.
© 1991 American Society of Mechanical Engineers (ASME). All rights reserved.