Comparative study of performance indices for fundamental robot manipulators

✍ Scribed by Serdar Kucuk; Zafer Bingul

• Publisher: Elsevier Science
• Year: 2006
• Tongue: English
• Weight: 794 KB
• Volume: 54
• Category: Article
• ISSN: 0921-8890
• DOI: 10.1016/j.robot.2006.04.002

✦ Synopsis

In this paper, conventional global and local indices -structural length index, manipulability measure, condition number and Global Conditioning Index (GCI) -have been examined for the workspace optimization of the sixteen fundamental robot manipulators classified by B. Huang and V. Milenkovic [Kinematics of major robot linkages, Robotics International of SME 2 (1983) 16-31]. To find the optimum link length and volumes of these robot manipulators, two design objectives have been used: maximize the workspace area covered by the robot manipulator and maximize the local indices. As an example, a three-link robot manipulator has been studied based on the above design objectives. Also, optimization results of the sixteen robot manipulators have been compared to each other and summarized in tables.