Research on Acceleration Performance Indices for Serial Mechanism

摘要

Previous performance indices are generalized and analyzed briefly first of all, then on the basis of first-order and second-order kinematical influence coefficient matrices, including acceleration performance index, linear acceleration performance index, angular acceleration performance index and acceleration global condition performance index and so on, a set of acceleration performance indices for serial robot are proposed. Different from previous indices, these indices include not only the first-order kinematics influence coefficient matrix G, but also the second order kinematics influence coefficient matrix H. Finally, with these performance indices, PUMA 260 serial industrial robot's dynamic performance are analyzed. The results show that these new indices are feasible in mechanism's dynamic performance analysis. So these indices can be used to guide the dynamics design of serial mechanism.