On Global Performance Indices of Robotic Mechanisms
SHI Zhi-xin1, LUO Yu-feng1, CHEN Hong-liang1, YE Mei-yan2
1. School of Mechanical and Electronic Engineering, Nanchang University, Nanchang 330029, China; 2. School of Math and Phys, Nanchang University, Nanchang 330047, China
石志新, 罗玉峰, 陈红亮, 叶梅燕. 机器人机构的全域性能指标研究[J]. 机器人, 2005, 27(5): 420-422..
SHI Zhi-xin, LUO Yu-feng, CHEN Hong-liang, YE Mei-yan. On Global Performance Indices of Robotic Mechanisms. ROBOT, 2005, 27(5): 420-422..
Abstract:The global performance index η presented by Gosselin is analyzed,and a better method is introduced to overcome its deficiency.Then the authors present a global performance fluctuating index σ,and suggest that the new integrated global performance index should be used as the objective function to optimize the dimensions of robotic manipulators.At last,an effective example is provided to illustrate the feasibility of the proposed method.
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