Global Indices for Kinematic and Force Transmission Performance in Parallel Robots

Kevin C. Olds

Research output: Contribution to journalArticlepeer-review

21 Scopus citations


This paper defines, develops, and demonstrates new indices for quantifying kinematic and force transmission performance of parallel robotic mechanisms. Conventional indices are first analyzed and shown to be insufficient for characterizing common design specifications based on worst-case performance. New indices are then developed, analyzed, and extended to simply and intuitively quantify global worst-case kinematic and force performance. These new tools are then successfully applied to the design, optimization, and analysis of a linear delta robot for medical applications.

Original languageEnglish (US)
Article number7057635
Pages (from-to)494-500
Number of pages7
JournalIEEE Transactions on Robotics
Issue number2
StatePublished - Apr 1 2015
Externally publishedYes


  • Optimal design
  • parallel robots
  • performance indices
  • robot kinematics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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