Analysis for acceleration performance indices of serial robots

被引：4

作者：

College of Information Science and Engineering, Yanshan University, Qinhuangdao 066004, China ^{[1
]}

不详 ^{[2
]}

机构：

[1] College of Information Science and Engineering, Yanshan University

[2] Department of Computer, Hebei Normal University of Science and Technology

来源：

Jixie Gongcheng Xuebao | 2008年 / 9卷 / 56-60期

关键词：

Influence coefficient matrix; Performance index; Serial robot;

D O I：

10.3901/JME.2008.09.056

中图分类号：

学科分类号：

摘要：

Through theoretical derivation from mechanism's velocity and acceleration formulae, serial mechanism's acceleration performance indices, including acceleration, angular acceleration and linear acceleration performance indices are defined based on mechanism's first-order and second-order influence coefficient matrices. By using definition of mechanism's global performance index put forward by GOSSELIN, serial mechanism's global performance indices of acceleration, angular acceleration and linear acceleration are presented. At last, by using previous index, PUMA 260 serial industrial robot's dynamic performance is analyzed, and the performance atlases are given. The results show that Hessian matrix plays a more important role in acceleration performance, and these new indices are feasible in mechanism's dynamic performance analysis.

引用

页码：56 / 60

页数：4

共 7 条

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