Abstract
Among the various criteria used to represent and evaluate the functional properties of a mechanism we describe the reachable and the dexterous workspace expressed by their volume and compactness. We also described the kinematic flexibility associated with the number of inverse kinematics solutions, the manipulability and the kinematic index associated with the kinematic singularities. Attention is given to the associated computational aspects, in particular to the determination and visualization of robot workspaces, which usually requires an enormous number of numerical operations.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
J. Angeles, Int. J. Robot. Res. 11(3), 196 (1992)
M. Ceccarelli, A. Vinciguerra, Int. J. Robot. Res. 14(2), 152 (1995)
J. Kieffer, IEEE Trans. Robot. Autom. 10(1), 1 (1994)
J. Kieffer, J. Lenarčič, in Proceedings 3rd International Symposium on Advances in Robot Kinematics, Ferrara, Italy (1992), pp. 65–72
V.C. Klema, A.J. Laub, IEEE Trans. Autom. Control 25(2), 164 (1980)
A. Kumar, K.J. Waldron, J. Mech. Des. 103, 665 (1981)
J. Lenarčič, Lab. Robot. Autom. 6(6), 293 (1994)
J. Lenarčič, U. Stanič, U. Oblak, Robot. Comput.-Integr. Manuf. 5(2/3), 235 (1989)
J. Lenarčič, U. Stanič, P. Oblak, in Proceedings 23rd International Symposium on Industrial Robots, Barcelona, Spain (1992), pp. 277–282
R.P. Paul, C.N. Stevenson, Int. J. Robot. Res. 2(1), 31 (1983)
A. Ružič, in Proceedings 4th Workshop on Robotics in Alpe-Adria Region, Pörtschach, Austria (1995), pp. 59–62
L. Sciavicco, B. Siciliano, Modeling and Control of Robot Manipulators, 2nd edn. (Springer, London, 2000)
M.M. Stanišić, O. Duta, IEEE Trans. Robot. Autom. 6(5), 562 (1990)
P. Wenger, J. El Omri, in Advances in Robot Kinematics and Computational Geometry, ed. by J. Lenarčič, B. Ravani (Kluwer Academic, Dordrecht, 1994), pp. 29–38
T. Yoshikawa, Int. J. Robot. Res. 4(2), 3 (1985)
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer Science+Business Media Dordrecht
About this chapter
Cite this chapter
Lenarčič, J., Bajd, T., Stanišić, M.M. (2013). Evaluation of Mechanisms. In: Robot Mechanisms. Intelligent Systems, Control and Automation: Science and Engineering, vol 60. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4522-3_4
Download citation
DOI: https://doi.org/10.1007/978-94-007-4522-3_4
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-4521-6
Online ISBN: 978-94-007-4522-3
eBook Packages: EngineeringEngineering (R0)