MANIPULATION
Acceleration and Dexterity Performance Indices for 6-DOF and Lower-Mobility Parallel Mechanism
Xijuan Guo, Fuqing Chang, S. J. Zhu
- Year
- 2004
- Citations
- 10
Abstract
On the basis of first-order and second-order kinematic influence coefficient matrices, dynamics characteristics indices for robot manipulator are presented in the paper. Different from indices before, these indices include not only the first-order kinematics influence coefficient matrix G, but also the second-order kinematic influence coefficient matrix H. Then with the global index, these indices can be used to guide the dynamics design.
Keywords
KinematicsAccelerationMechanism (biology)Dynamics (music)Robot kinematicsMatrix (chemical analysis)Basis (linear algebra)Coefficient matrixParallel manipulatorComputer science
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