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Dynamic Model and Performances of 2-DOF Mechanisms

[+] Author Affiliations
Raffaele Di Gregorio

University of Ferrara, Ferrara, Italy

Paper No. DETC2004-57129, pp. 347-355; 9 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


Tools that make it possible to measure the performances of manipulators are essential in many technical applications, for instance, when the optimal path to accomplish a task has to be chosen, or when different manipulator architectures have to be compared. This paper proposes new indices that fully describe the passive dynamic performances of manipulators with two degrees of freedom (dof). The proposed indices make it possible to compare the passive dynamic performances of different manipulator architectures, which can perform the same tasks, and can be used to build diagrams which highlight the effects of variations in the manipulator geometry on the manipulator dynamics. These features make them easy to be used in a design context. Finally, one application of the proposed indices will be presented and discussed.

Copyright © 2004 by ASME



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