6-DOF Serial Robot Dynamics Performance Index Analysis And Simulation

The best performance of the robot is considered when we design and make the structure and the scheme of the robot. So the researchers at home and abroad give attention and study on how to judge the dynamics performance of the robot. Since Vinogrador brought forward the concept of Working Angle in 1971 until C.Gosselin and J.Angeles brought forward the Global Conditioning Index based on the Jacobian matrix in 1991, all the studies were in the dis- cussion of velocity performance index, for the acceleration, only local dynamic performance was analyzed when the acceleration is zero, the demand of deve- loping the robot of high speed and high precision is can not be satisfied. In this paper, the 6-DOF serial robot dynamics performance is analyzed and evaluated by using a new dynamics global performance index.Firstly, the pose description of mechanism, homogeneous transform, the concept of influence coefficient, and a new 6-DOF serial robot dynamics per- formance index are introduced. Secondly, the Jacobian matrix and Hessian matrix of the Stanford robot and Motoman robot are built according to the influence coefficient method, the dynamics performance index of the robots is analyzed by using the 6-DOF serial robot dynamics global performance index. Because the dynamics performance index is decided by both Jacobian matrix and Hessian matrix, in this paper, the influence of serial robot dynamics per- formance caused by this two indexes are computed separately, the conclusion is given based on the study of a mass of data.In order to verify the validity of performance index analysis, the model and motion of Stanford robot and Motoman robot are simulated separately in Matlab. Simulation platform which can visualize the analysis process and pro- vide the motion data of the robot is designed.