Title :
Dynamic performance indices analysis for one-loop planar mechanism
Author :
Yang, Yulin ; Du, Xiong ; Geng, Qingjia ; Guo, Xijuan
Author_Institution :
Sch. of Nat. Defense, Yanshan Univ., Qinhuangdao, China
Abstract :
Acceleration global performance index based on Jacobian and Hessian matrices for one-loop planar mechanism is proposed. Using acceleration global performance index, acceleration performance of crank rocker mechanism is analyzed and atlas of dynamics performance indices is given. By using the result of atlas, mechanism with better acceleration is found. At last, the crank rocker mechanism is simulated by Matlab software, and simulating atlas of acceleration is given, the results are completely consistent with the results of theoretical analysis, which validates the correctness of theoretical analysis and the feasibility of performance index.
Keywords :
Hessian matrices; Jacobian matrices; acceleration control; performance index; robot dynamics; robot kinematics; velocity control; Hessian matrices; Jacobian matrices; Matlab software; acceleration global performance index; crank rocker mechanism; dynamics performance atlas; one-loop planar mechanism; performance index analysis; theoretical analysis; Acceleration; Analytical models; Automatic control; Biomimetics; Jacobian matrices; Performance analysis; Robotics and automation; Robots; Software performance; Transmission line matrix methods; Crank rocker mechanism; Global performance index; One-loop planar mechanism; Performance analysis;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420514
