Abstract
When all input links, except one, are fixed in a mechanism of parallel manipulator with N degrees of freedom (dof), N kinds of mechanisms with a single dof can be obtained, and pressure angles corresponding to each mechanism can be defined. In order to transmit power efficiently from input links to the output link, all of the values of cosines of the pressure angles must be as big as possible. Then, the present paper proposes a new transmission index (TI) for parallel manipulators based on the power transmitted from input links to the output link, which is defined as the minimum value of cosines of the pressure angles. For planar and spatial parallel manipulators, static force analyses are carried out, and the relationships between TI and joint forces are studied. Working spaces of parallel manipulators with consideration of motion transmissibility are also shown.
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