The Effects of Actuation Schemes on the Kinematic Performance of Manipulators

[+] Author and Article Information
R. Matone, B. Roth

Department of Mechanical Engineering, Stanford University, Stanford, CA 94305

J. Mech. Des 119(2), 212-217 (Jun 01, 1997) (6 pages) doi:10.1115/1.2826238 History: Received July 01, 1996; Revised January 01, 1997; Online December 11, 2007


This paper is concerned with the effects of actuation schemes on three measures of kinematic performance which depend upon a manipulator’s Jacobian matrix (namely, the minimum singular value, the manipulability, and the condition number). We begin by presenting a simple framework on how to incorporate actuator location and drive mechanisms in the kinematic model. Then, we redefine the performance measures using the new model. For each measure we derive properties relating its joint space to its actuator space description. Next we demonstrate that the choice of actuation scheme influences the size, shape, and direction of the velocity ellipsoid of the end-effector. Finally, we employ the above concepts in the design of a 2R planar mechanical arm. Its transmission ratios and drive mechanisms are selected in order to obtain good kinematic characteristics. We show that the choice of actuation scheme can be used to improve kinematic performance.

Copyright © 1997 by The American Society of Mechanical Engineers
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