A slider crank mechanism based robot arm performance and dynamic analysis

摘要

This study is concerned with kinematic performance analysis of a slider crank mechanism based robot arm. A new closed kinematic chain robot arm is introduced as an alternative robot manipulator and its structure is presented. The kinematic performance of the robot arm is analyzed by means of robot arm's generalized Jacobian matrix. Inplane manipulability and isotropy of the robot arm are examined. The robot arm's performance is compared with the open chain two link 2R planar robot manipulator. It is shown that slider crank based robot arm has almost full isotropic kinematic performance characteristic and its performance is much better than the best 2R robot arm. Besides, direct and inverse kinematic solutions of the idealized version of SC robot arm are given. The dynamic equations of motion of the robot arm are derived from Lagrangian formulation.