Analysis for Acceleration Performance Indices of Parallel Robots

Abstract

Uniform velocity performance index, acceleration performance index, linear acceleration performance index and angular acceleration performance index which are suitahle for any parallel robot with lower mo- bility and parallel multi loop unsymmetrical robot are presented. This paper also presents acceleration performance index, linear acceleration and angular acceleration performance indices of six DOF parallel robot, global condition performance index and control precision index of parallel robot with lower mobility and parallel multi loop unsymmetrical robot.