On the Characterization of the Dynamic Performances of Planar Manipulators |
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Authors: | R?Di?Gregorio Email author" target="_blank">V?Parenti-CastelliEmail author |
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Institution: | (1) Dipartimento di Ingegneria, Università di Ferrara, Via Saragat, 1, 44100 Ferrara, Italy;(2) DIEM, Università di Bologna, Viale Risorgimento, 2, 40136 Bologna, Italy |
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Abstract: | The characterization of the dynamic performances of a manipulator is important both to compare different manipulators and to improve the dynamic performances of a manipulator during the design stage. In a previous paper the concepts of swiftness and of dynamic isotropy were used to characterize some dynamic performances of 3-dof manipulators. This paper analyzes the usefulness of these concepts for three-dof planar manipulators and shows that the concept of swiftness is still significant, whereas the concept of dynamic isotropy has no practical interest. Moreover, it introduces three new dynamic properties that are useful in the design of a 3-dof planar manipulator. Finally, it proposes some indices that measure both the swiftness and the three new dynamic properties and shows how to use them, both for evaluating the dynamic performances of a given 3-dof planar manipulator and for improving the dynamic performances during its design. |
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Keywords: | Planar manipulators Performance indices Dynamics Mechanics of machines |
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