A rapid performance evaluation approach for lower mobility hybrid robot based on gravity-center position

Area of Science:

• Robotics
• Mechanical Engineering
• Control Systems

Background:

• Lower mobility hybrid robots require efficient performance evaluation for design and optimization.
• Existing methods may not be rapid or sufficiently sensitive to mass distribution effects.

Purpose of the Study:

• To develop a rapid performance evaluation approach for lower mobility hybrid robots.
• To propose a new performance index based on gravity center position.
• To provide guidance for manipulator evaluation, design, and optimization.

Main Methods:

• Constructed a general position vector model of the gravity center for the robot's workspace.
• Developed a performance evaluation index using coordinates pointing to the supporting direction.
• Verified the approach using a 5-DOF hybrid robot (TriMule) and compared it with condition number and natural frequency.

Main Results:

• The proposed index effectively reflects spatial performance distribution within the workspace.
• The evaluation index is sensitive to performance variations caused by mass distribution.
• Credibility was verified against established metrics like condition number and natural frequency.

Conclusions:

• The developed approach offers a rapid and effective method for evaluating lower mobility hybrid robot performance.
• The new index aids in the rapid design and optimization of cantilever robots.
• This work provides a valuable tool for robotic system development and enhancement.