Performance Evaluation and Design Criteria

[ Information ]

in Springer handbook of robotics, vol. 200, Bruno Siciliano, Oussama Khatib, and Torsten Kroger, Ed: Springer, 2008, pp. 229-244. 

[ Authors ]

Jorge Angeles and Frank C. Park

[ 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.