Kinematics performance index of automated fiberplacement robotic manipulator
                                                                           LI Weizhou, GE Xinfeng
                                     (Centre of Engineering Technology, Xuchang University, Xuchang 461000, China)

Abstract: Aiming at measuring the automated fiber placement robotic manipulators kinematics performance index, the moving frame system and exterior differential were introduced. The kinematics equations of robotic manipulator was derived according to moving frame system and the volume element function was defined according to exterior differential, the volume element function of robotic manipulator was taken as kinematics performance index measuring redundant robotic manipulators kinematics manipulability. Then the automatic fiber placement robotic manipulator was taken as an example, and the volume element function of the automatic fiber placement robotic manipulator was obtained. The volume element function which derived from volume element that defined by the moving frame system and the exterior differential and Yoshikawas manipulability function was the same comparing Yoshikawas manipulability function. The results indicate that the volume element as a kinematics operational performance index is feasible.

Key words: moving frame system; exterior differential; manipulability; kinematics performance index; volume element