Dynamics Performance Analysis for LR-Mate Robot

Abstract

Abstract: On the basis of the Jacobian and Hessian matrix, acceleration performance indexes for 5 degrees of freedom series robot (SR) are presented. Then the global performance index and the global performance fluctuating index are given. By using these indices, the LR-Mate robot’s acceleration performance is analyzed and each kind of atlas of dynamics performance indices is given. Through analyzing the result of simulating atlas, it can be found that Hessian matrix plays a more important role in acceleration performance. Furthermore, the LR Mate mechanism is simulated by Matlab, and simulating atlases of velocity and acceleration are given, The results are completely consistent with the results of theoretical analysis, thus verifying the correctness of theoretical analysis and the feasibility of performance indexes.

Key words: Global performance fluctuating index, LR-Mate robot, Performance analysis, Serial robot

CLC Number:

TP24

GUO Xijuan;PENG Yanmin;GENG Qingjia. Dynamics Performance Analysis for LR-Mate Robot[J]. , 2008, 44(10): 123-128.

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Dynamics Performance Analysis for LR-Mate Robot

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