Research on Acceleration Performance Indices for Serial Mechanism

Previous performance indices are generalized and analyzed briefly first of all, then on the basis of first-order and second-order kinematical influence coefficient matrices, including acceleration performance index, linear acceleration performance index, angular acceleration performance index and acceleration global condition performance index and so on, a set of acceleration performance indices for serial robot are proposed. Different from previous indices, these indices include not only the first-order kinematics influence coefficient matrix G, but also the second order kinematics influence coefficient matrix H. Finally, with these performance indices, PUMA 260 serial industrial robot´s dynamic performance are analyzed. The results show that these new indices are feasible in mechanism´s dynamic performance analysis. So these indices can be used to guide the dynamics design of serial mechanism.