Kinematic/kinetic performance analysis and synthesis measures of multi-DOF mechanisms

Ming Yih Lee; Arthur G. Erdman; Yevsey Gutman

doi:10.1016/0094-114X(93)90006-H

Kinematic/kinetic performance analysis and synthesis measures of multi-DOF mechanisms

Ming Yih Lee, Arthur G. Erdman, Yevsey Gutman

Mechanical Engineering

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Abstract

This paper discusseskinematic/kinetic performance characteristics of multi-DOF mechanisms and proposes analytical and graphical representations for them. These performance characteristics are kinematic cross-coupling, directional motion mobility, force manipulability and motion efficiency. Properties of the proposed analytical/graphical measures are elaborated on for the purpose of kinematic synthesis. Graphical performance distribution over the mechanism's reachable workspace enables the designer to view the performance as a whole. Critical performance points representing extreme conditions of these perfomance 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)
Pages (from-to)	651-670
Number of pages	20
Journal	Mechanism and Machine Theory
Volume	28
Issue number	5
DOIs	https://doi.org/10.1016/0094-114X(93)90006-H
State	Published - Sep 1993

Bibliographical note

Funding Information:
Acknowledgements--The authors would like to thank the NSF for the support of this work under grant number MSS-9012456. Also the help of Mark Bcnner in reviewing the manuscript is appreciated.

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abstract = "This paper discusseskinematic/kinetic performance characteristics of multi-DOF mechanisms and proposes analytical and graphical representations for them. These performance characteristics are kinematic cross-coupling, directional motion mobility, force manipulability and motion efficiency. Properties of the proposed analytical/graphical measures are elaborated on for the purpose of kinematic synthesis. Graphical performance distribution over the mechanism's reachable workspace enables the designer to view the performance as a whole. Critical performance points representing extreme conditions of these perfomance characteristics are identified and used for design. The proposed performance tools will be demonstrated for the performance analysis of various robotic mechanisms.",

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Kinematic/kinetic performance analysis and synthesis measures of multi-DOF mechanisms

Abstract

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