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Based on human arm and serial robot theory, a model is established to get the acceleration and velocity performance index of the humanoid-arm mechanism. Using these indices, the dynamic performance of the mechanism is analyzed and the atlas of the indices contoured by Matlab is given. Through analyzing the results of simulating atlas, the optimum size of the humanoid-arm is derived. Using a group...
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...
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...
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