This paper discusses kinematic/kinetic performance characteristics of multi-DOF robotic mechanisms and proposes analytical representations for them. These performance characteristics are kinematic cross-coupling, directional mobility, force manipulability, and motion efficiency. Properties of the proposed analytical measures are elaborated on for the purpose of kinematic synthesis. Critical performance points representing extreme conditions of these performance characteristics are identified and used for design. The proposed performance tools will be demonstrated for the performance analysis of various robotic mechanisms.
|Original language||English (US)|
|Title of host publication||23rd Biennial Mechanisms Conference|
|Subtitle of host publication||Robotics - Kinematics, Dynamics and Controls|
|Publisher||American Society of Mechanical Engineers (ASME)|
|Number of pages||10|
|State||Published - 1994|
|Event||ASME 1994 Design Technical Conferences, DETC 1994, collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium - Minneapolis, United States|
Duration: Sep 11 1994 → Sep 14 1994
|Name||Proceedings of the ASME Design Engineering Technical Conference|
|Conference||ASME 1994 Design Technical Conferences, DETC 1994, collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium|
|Period||9/11/94 → 9/14/94|
Bibliographical noteFunding Information:
ACKNOWLEDGMENTS: The authors would like to thank the NSFfor the support of this work under grant number MSS-9012456.
© 1994 American Society of Mechanical Engineers (ASME). All rights reserved.