Kinematic/kinetic performance analysis and design tools for robotic mechanisms

M. Y. Lee, A. G. Erdman, Y. Gutman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


This paper discusses kinematic/kinetic performance characteristics of multi-DOF robotic mechanisms and proposes analytical representations for them. These performance characteristics are kinematic cross-coupling, directional mobility, force manipulability, and motion efficiency. Properties of the proposed analytical measures are elaborated on for the purpose of kinematic synthesis. Critical performance points representing extreme conditions of these performance characteristics are identified and used for design. The proposed performance tools will be demonstrated for the performance analysis of various robotic mechanisms.

Original languageEnglish (US)
Title of host publication23rd Biennial Mechanisms Conference
Subtitle of host publicationRobotics - Kinematics, Dynamics and Controls
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages10
Editionpt 3
ISBN (Electronic)9780791812860
StatePublished - Dec 1 1994
Externally publishedYes
EventProceedings of the 1994 ASME Design Technical Conferences. Part 1 (of 3) - Minneapolis, MN, USA
Duration: Sep 11 1994Sep 14 1994

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
VolumePart F167892-4


OtherProceedings of the 1994 ASME Design Technical Conferences. Part 1 (of 3)
CityMinneapolis, MN, USA

Bibliographical note

Funding Information:
ACKNOWLEDGMENTS: The authors would like to thank the NSFfor the support of this work under grant number MSS-9012456.

Publisher Copyright:
© 1994 American Society of Mechanical Engineers (ASME). All rights reserved.


Dive into the research topics of 'Kinematic/kinetic performance analysis and design tools for robotic mechanisms'. Together they form a unique fingerprint.

Cite this