| How to evaluate the dynamic performance of manipulator of the robot has drawn much attention at home and abroad. It has an important influence on development of high speed and high precision robot as well as mechanism design of robot and programming of manipulator project. From the definition of working angle (Vinogrador,1971) to the definition of global conditioning index which based on Jacobian matrix (C.Gosselin, J.Angeles,1991), all research is limited to the discussion on velocity performance indices. To acceleration, it only describes the part dynamic performance of some spot when robot is in the state that . This paper analyzes the serial mechanisms on kinematical and dynamical performance. In this paper, based on strict demonstration to the validity and practicability of the method, we first research the performances of kinematics and dynamics that based on both Jacobian and Hession matrix. The mechanisms, which are analyzed in this paper, are serial PUMA560 mechanism and serial A4010H SCARA mechanism. During the analysis, this paper calculates one-order kinematic influence coefficient matrices and two-order kinematic influence coefficient matrices of the mechanisms according to the influence coefficient presented by Pro. Z.Huang. Then the range of dimension, in view of the mechanisms' trim size and workspace, is chosen for research. At last, this paper draws performance atlas to find the mechanism who has better performance in a group of mechanisms with the indices proposed by Pro. X.J.Guo in her thesis. In the result of the analysis, the conclusion is that the serial mechanism has better kinematic performance but worse dynamic performance. The method in this paper mainly focuses on the design of mechanism. How to develop the dynamic performance is under discussion.
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