CHARACTERISTIC EVALUATION AND COMPARISON OF ROBOTIC MECHANISMS - EVALUATION AND COMPARISON BASED ON STATIC CHARACTERISTICS

This paper compared and evaluated several kinds of representative robo tic mechanisms based on static characteristics. Especially, open-loop mechanisms and two kinds of closed-loop mechanisms which are parallel crank mechanisms were adopted as the representative robotic mechanisms . On the characteristic comparison of the robotic mechanisms, the prev ious research had been carried out for the condition under which the c onfigurations of the mechanisms were limited to a certain form. Howeve r, static characteristics of the robots are greatly changed by the mec hanism configurations. Therefore, this paper paid special attention to the changes of each mechanism characteristic-by these configurations. Particularly, geometrical characteristics, strength characteristics a nd characteristics based on input/output displacement of those robotic mechanisms were compared and evaluated. As a result, the superiority or inferiority in the characteristics of these robotic mechanisms was successfully revealed.