Analysis for Acceleration Performance Indices of Serial Robots

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.