SME MS910345

THIS PAPER DISCUSSES KINEMATIC/KINETIC PERFORMANCE CHARACTERISTICS OF MULTI-DOF MECHANISMS AND PROPOSES ANALYTICAL AND GRAPHICAL REPRESENTATIONS FOR THEM. THESE PERFORMANCE CHARACTERISTICS ARE KINEMATIC CROSS-COUPLING, DIRECTIONAL MOBILITY, FORCE MANIPULABILITY, AND MOTION EFFICIENCY. PROPERTIES OF PROPOSED ANALYTICAL/GRAPHICAL MEASURES ARE ELABORATED FOR THE PURPOSE OF MECHANISM GEOMETRY SYNTHESIS. GRAPHICAL PERFORMANCE DISTRIBUTION OVER MECHANISM REACHABLE WORKSPACE ENABLE DESIGNERS TO VIEW THE PERFORMANCE AS A WHOLE. CRITICAL PERFORMANCE POINTS REPRESENTING EXTREME CONDITIONS OF THESE PERFORMANCE CHARACTERISTICS ARE IDENTIFIED AND USED FOR DESIGN. THE PROPOSED PERFORMANCE TOOLS ARE DEMONSTRATED FOR THE PERFORMANCE ANALYSIS OF VARIOUS ROBOTIC MECHANISMS.

Product Details

Published:

06/01/1991

Number of Pages:

22

File Size:

1 file , 1.8 MB