Comparative study of performance indices for fundamental robot manipulators

Kucuk S., Bingul Z.

ROBOTICS AND AUTONOMOUS SYSTEMS, vol.54, no.7, pp.567-573, 2006 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 54 Issue: 7
  • Publication Date: 2006
  • Doi Number: 10.1016/j.robot.2006.04.002
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.567-573
  • Keywords: fundamental robot manipulators, structural length index, manipulability measure, condition number, GCI, workspace optimization, DESIGN, OPTIMIZATION, WORKSPACE
  • Kocaeli University Affiliated: Yes


In this paper, conventional global and local indices - structural length index, manipulability measure, condition number and Global Conditioning Index (GCI) - have been examined for the workspace optimization of the sixteen fundamental robot manipulators classified by B. Huang and V. Milenkovic [Kinematics of major robot linkages, Robotics International of SME 2 (1983) 16-31]. To find the optimum link length and volumes of these robot manipulators, two design objectives have been used: maximize the workspace area covered by the robot manipulator and maximize the local indices. As an example, a three-link robot manipulator has been studied based on the above design objectives. Also, optimization results of the sixteen robot manipulators have been compared to each other and summarized in tables. (C) 2006 Elsevier B.V. All rights reserved.