| contributor author | G. J. Wiens | |
| contributor author | M. Y. Zarrugh | |
| contributor author | R. A. Scott | |
| date accessioned | 2017-05-08T23:39:12Z | |
| date available | 2017-05-08T23:39:12Z | |
| date copyright | March, 1992 | |
| date issued | 1992 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27594#137_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/110664 | |
| description abstract | The sensitivity of the eigenvalues of a manipulator’s generalized inertia matrix with respect to the geometric parameters are used to form a set of indices as a measure of manipulator performance. The effects due to the geometric parameters and those due to purely mass characteristics of the manipulator’s links are separated by using the Denavit-Hartenberg representation and expressing each link’s local ineratia tensor in terms of principal moments about its center of mass. A global measure of the indices is defined and correlated with quantities such as workspace volume and reach. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Effects of Geometric Parameters on Manipulator Dynamic Performance | |
| type | Journal Paper | |
| journal volume | 114 | |
| journal issue | 1 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2916907 | |
| journal fristpage | 137 | |
| journal lastpage | 142 | |
| identifier eissn | 1528-9001 | |
| keywords | Manipulator dynamics | |
| keywords | Manipulators | |
| keywords | Inertia (Mechanics) | |
| keywords | Center of mass | |
| keywords | Tensors AND Eigenvalues | |
| tree | Journal of Mechanical Design:;1992:;volume( 114 ):;issue: 001 | |
| contenttype | Fulltext | |