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RESEARCH PAPERS

Effects of Geometric Parameters on Manipulator Dynamic Performance

[+] Author and Article Information
G. J. Wiens

Mechanical Engineering Dept., Auburn University, Auburn, AL 36849-5341

M. Y. Zarrugh

Mechanical Technology, Schlumberger Well Services, Houston, TX 77210-4594

R. A. Scott

Dept. of Mechanical Engineering and Applied Mechanics, The University of Michigan, Ann Arbor, MI 48109

J. Mech. Des 114(1), 137-142 (Mar 01, 1992) (6 pages) doi:10.1115/1.2916907 History: Received March 01, 1990; Online June 02, 2008

Abstract

The sensitivity of the eigenvalues of a manipulator’s generalized inertia matrix with respect to the geometric parameters are used to form a set of indices as a measure of manipulator performance. The effects due to the geometric parameters and those due to purely mass characteristics of the manipulator’s links are separated by using the Denavit-Hartenberg representation and expressing each link’s local ineratia tensor in terms of principal moments about its center of mass. A global measure of the indices is defined and correlated with quantities such as workspace volume and reach.

Copyright © 1992 by The American Society of Mechanical Engineers
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