Abstract: The global performance index basing on the Jacobian and Hessian matrix for four degree of freedom Series Robot（SR）are utilized，it turns the restrictions due to considering only first order influence coefficient matrix in the past when analyzing performance of mechanism.Using these indices，the FMA robot is analyzed and each kind of atlas of kinematics and dynamics performance indices is given.The paper also discussed the performance differences with different dimensions by the atlas of global performance index.Furthermore，the FMA mechanism is simulated by OpenGL，the performance is proved and provides the principle of design.

Key words: Series Robot（SR）, influence coefficient, the global performance index

摘要： 利用了基于Jacobian矩阵和Hessian矩阵四自由度串联机器人加速度全局性能指标，改变在机构分析时只考虑一阶影响系数矩阵的局限性。利用该指标，分析FANUC M420iA（FMA）机器人，给出了运动学和动力学性能指标的图谱，探讨了不同尺寸之间的性能差异。最后，利用OpenGL进行了仿真，验证了加速度性能指标的正确性，为机构设计提供依据。

关键词: 串联机器人, 影响系数, 全局性能指标