Abstract
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 |
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| Pages | 73-82 |
| Number of pages | 10 |
| State | Published - 1994 |
| Event | Proceedings of the 1994 ASME Design Technical Conferences. Part 1 (of 3) - Minneapolis, MN, USA Duration: 11 09 1994 → 14 09 1994 |
Conference
| Conference | Proceedings of the 1994 ASME Design Technical Conferences. Part 1 (of 3) |
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| City | Minneapolis, MN, USA |
| Period | 11/09/94 → 14/09/94 |