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Acceleration and Dexterity Performance Indices for 6-DOF and Lower-Mobility Parallel Mechanism

[+] Author Affiliations
X. J. Guo, F. Q. Chang, S. J. Zhu

Yanshan University, Qinhuangdao, Hebei, P. R. China

Paper No. DETC2004-57093, pp. 251-255; 5 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


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.

Copyright © 2004 by ASME



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