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


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
Your Session has timed out. Please sign back in to continue.






Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In