The kinematical about the serial mechanismPUMA560 is analyzed in this paper. The performance index atlases involve velocity and acceleration. Those are to provide the academic principles of mechanism design.

• 摘要对串联PUMA560机构的运动学性能进行了分析，分别绘出了速度、加速度的性能图谱，从而为该机构的尺寸设计提供理论依据。