Abstract

Performance evaluation is one of most important issues in the analysis and design of parallel manipulators. As the counterparts of serial robots, parallel manipulators are mostly good at motion/force transmission but not dexterous manipulation. In this study, a generalized transmission index that can evaluate the motion/force transmissibility of fully parallel manipulators is proposed based on the virtual coefficient. The transmission index defined here is frame-free and is relative to singularity. By giving a specified and significant value, the index can be used to identify a good transmission workspace (GTW), where the parallel manipulator is not only good at motion/force transmission, but is also far away from its singularity. To introduce the analysis method and the frame-free index, the transmission performance analysis of two parallel manipulators is presented. The analysis method of motion/force transmissibility and the proposed index are expected to be applied to the analysis and kinematic optimal design of fully parallel manipulators.

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