Abstract
AbstractThe applications of automation and robotic manipulators are evidently increasing due to many advantages; this paper presents the planar serial manipulator performance analysis. There are many performance indices to explain the suitability and selection of manipulators; in this analysis, the Robustness Index-I and Robustness Index-II are considered for 4R and 3R manipulators. The 4R and 3R planar serial manipulators are taken in planar condition as the moment is restricted to a single plane. The 4R and 3R manipulators have all joints with revolute type in nature, and the actuations are arranged at the fixed base joint, the manipulators are provided with base actuation which is fixed. The link lengths of the manipulator are varied in different ratios and the performance evaluation is conducted, and these indices are calculated with the help of Jacobian matrix. Direct kinematic relations were used to generate the Jacobian matrix.KeywordsPerformance measuresSerial manipulatorsRobustness Index-I, Robustness Index-IIDifferent kinematic link lengths
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