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Performance Evaluation and Design Criteria

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Springer Handbook of Robotics

Abstract

This chapter is devoted to the design of robots, with a focus on serial architectures. In this regard, we start by proposing a stepwise design procedure; then, we recall the main issues in robot design. These issues pertain to workspace geometry, the kinetostatic, the dynamic, the elastostatic, and elastodynamic performance. In doing this, the mathematics behind the concepts addressed is briefly outlined to make the chapter self-contained.

We survey some of the tools and criteria used in the mechanical design and performance evaluation of robots. Our focus is limited to robots that are (a) primarily intended for manipulation tasks and (b) supplied with serial kinematic chains. The kinematics of parallel robots is addressed in detail in Chap. 12. Wheeled robots, walking robots, multifingered hands, and other similar specialized structures are studied in their own chapters.

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Abbreviations

CAE:

computer-aided engineering

DOF:

degree of freedom

NASA:

National Aeronautics and Space Agency

SCARA:

selective compliance assembly robot arm

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, 817 Sherbrooke St. W., H3A 2K6, Montreal, Quebec, Canada

    Jorge Angeles PhD

  2. Mechanical and Aerospace Engineering, Seoul National University, 51-742, Seoul, Korea

    Frank C. Park Prof

Authors
  1. Jorge Angeles PhD
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  2. Frank C. Park Prof
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Corresponding authors

Correspondence to Jorge Angeles PhD or Frank C. Park Prof .

Editor information

Editors and Affiliations

  1. PRISMA Lab, Dipartimento di Informatica e Sistemistica, Universitá degli Studi di Napoli Federico II, 80125, Napoli, Italy, Via Claudio 21

    Bruno Siciliano Prof.

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, 94305-9010, Stanford, CA, USA

    Oussama Khatib Prof.

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© 2008 Springer-Verlag

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Angeles, J., Park, F.C. (2008). Performance Evaluation and Design Criteria. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_11

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  • DOI: https://doi.org/10.1007/978-3-540-30301-5_11

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-23957-4

  • Online ISBN: 978-3-540-30301-5

  • eBook Packages: EngineeringEngineering (R0)

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