Research Papers

Investigation on the Effort Transmission in Planar Parallel Manipulators

[+] Author and Article Information
Sébastien Briot

Institut de Recherches en Communications et
Cybernétique de Nantes (IRCCyN),
IRCCyN, Bureau 416,
1 rue de la Noë,
BP 92101, F-44321 Nantes Cedex 03, France
e-mail: Sebastien.Briot@irccyn.ec-nantes.fr

Victor Glazunov

Mechanical Engineering Research Institute,
Russian Academy of Sciences,
M.Kharitonyevski, Street 4,
101990 Moscow, Russia
e-mail: vaglznv@mail.ru

Vigen Arakelian

Institut National des Sciences Appliquées (INSA),
Département de Génie Mécanique
et Automatique,
20 avenue des Buttes de Coësmes–70839,
35708 Rennes Cedex 7, France
e-mail: vigen.arakelyan@insa-rennes.fr

In this table, the dark joints correspond to the actuated joints.

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received September 20, 2012; final manuscript received December 11, 2012; published online January 25, 2013. Assoc. Editor: Yuefa Fang.

J. Mechanisms Robotics 5(1), 011011 (Jan 25, 2013) (10 pages) Paper No: JMR-12-1148; doi: 10.1115/1.4023325 History: Received September 20, 2012; Revised December 11, 2012

In the design of a mechanism, the quality of effort transmission is a key issue. Traditionally, the effort transmissivity of a mechanism is defined as the quantitative measure of the power flowing effectiveness from the input link(s) to the output link(s). Many researchers have focused their work on the study of the effort transmission in mechanisms and diverse indices have been defined. However, the developed indices have exclusively dealt with the studies of the ratio between the input and output powers and they do not seem to have been devoted to the studies of the admissible reactions in passive joints. However, the observations show that it is possible for a mechanism to reach positions in which the transmission indices will have admissible values but the reaction(s) in passive joint(s) can reach excessively high values leading to the breakdown of the mechanism. In the present paper, a method is developed to ensure the admissible values of reactions in passive joints of planar parallel manipulators. It is shown that the increase of reactions in passive joints of a planar parallel manipulator depends not only on the transmission angle but also on the position of the instantaneous center of rotation of the platform. It allows the determination of the maximal reachable workspace of planar parallel manipulators taking into account the admissible reactions in its passive joints. The suggested method is illustrated via a 5R planar parallel mechanism and a planar 3-RPR parallel manipulator.

Copyright © 2013 by ASME
Your Session has timed out. Please sign back in to continue.


Merlet, J. P., 2006, Parallel Robots, 2nd ed., Springer, New York.
Bonev, I. A., Zlatanov, D., and Gosselin, C. M., 2003, “Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory,” ASME J. Mech. Des., 125(3), pp. 573–581. [CrossRef]
Daniali, M. H. R., Zsombor-Murray, P. J., and Angeles, J., 1995, “Singularity Analysis of Planar Parallel Manipulators,” Mech. Mach. Theory, 30(5), pp. 665–678. [CrossRef]
Gosselin, C. M., and Angeles, J., 1990, “Singularity Analysis of Closed-Loop Kinematic Chains,” IEEE Trans. Rob. Autom., 6(3), pp. 281–290. [CrossRef]
Zlatanov, D., Bonev, I. A., and Gosselin, C. M., 2002, “Constraint Singularities of Parallel Mechanisms,” IEEE International Conference on Robotics and Automation, Washington, DC, May 11–15.
Arakelian, V., Briot, S., and Glazunov, V., 2008, “Increase of Singularity-Free Zones in the Workspace of Parallel Manipulators Using Mechanisms of Variable Structure,” Mech. Mach. Theory, 43(9), pp. 1129–1140. [CrossRef]
Alba-Gomez, O., Wenger, P., and Pamanes, A., 2005, “A Consistent Kinetostatic Indices for Planar 3-DOF Parallel Manipulators, Application to the Optimal Kinematic Inversion,” Proceedings of the ASME 2005 IDETC/CIE Conference, Long Beach, CA, Sept. 24–28.
Balli, S., and Chand, S., 2002, “Transmission Angle in Mechanisms,” Mech. Mach. Theory, 37, pp. 175–195. [CrossRef]
Angeles, J., and López-Cajún, C., 1991, Optimization of Cam Mechanisms, Kluwer Academic Publishers B. V., Dordrecht.
Sutherland, G., and Roth, B., 1973, “A Transmission Index for Spatial Mechanisms,” ASME J. Eng. Ind., 95, pp. 589–597. [CrossRef]
Chen, C., and Angeles, J., 2007, “Generalized Transmission Index and Transmission Quality for Spatial Linkages,” Mech. Mach. Theory, 42(9), pp. 1225–1237. [CrossRef]
Gosselin, C. M., and Angeles, J., 1991, “A Global Performance Index for the Kinematic Optimization of Robotic Manipulators,” J. Mech. Des., 113(3), pp. 220–226. [CrossRef]
Rakotomanga, N., Chablat, D., and Caro, S., 2008, “Kinetostatic Performance of a Planar Parallel Mechanism With Variable Actuation,” 11th International Symposium on Advances in Robot Kinematics, Kluwer Academic Publishers, Batz-sur-mer, France, June.
Ranganath, R., Nair, P. S., Mruthyunjaya, T. S., and Ghosal, A., 2004, “A Force–Torque Sensor Based on a Stewart Platform in a Near-Singular Configuration,” Mech. Mach. Theory, 39(9), pp. 971–998. [CrossRef]
Stocco, L., Salcudean, S., and Sassani, F., 1998, “Fast Constrained Global Minimax Optimization of Robot Parameters,” Robotica, 16, pp. 595–605. [CrossRef]
Hayward, V., Choksi, J., Lanvin, G., and Ramstein, C., 1994, “Design and Multi-Objective Optimization of a Linkage for a Haptic Interface,” Advances in Robot Kinematics, Springer, pp. 352–359.
Frisoli, A., Prisco, M., Salsedo, F., and Bergamasco, M., 1999, “A Two Degrees-of-Freedom Planar Haptic Interface With High Kinematic Isotropy,” Proceedings of the 8th IEEE International Workshop on Robot and Human Interaction (RO-MAN'99), pp. 297–302.
Liu, X. -J., Wu, C., and Wang, J., 2012, “A New Approach for Singularity Analysis and Closeness Measurement to Singularities of Parallel Manipulators,” ASME J. Mech. Rob., 4, p. 041001. [CrossRef]
Takeda, Y., and Funabashi, H., 1995, “Motion Transmissibility of In-Parallel Actuated Manipulators,” Trans. JSME Int. J., Ser. C, 38(4), pp. 749–755.
Takeda, Y., and Funabashi, H., 1996, “Kinematic and Static Characteristics of In-Parallel Actuated Manipulators at Singular Points and in Their Neighborhood,” Trans. JSME Int. J., Ser. C, 39(1), pp. 85–93.
Merlet, J.-P., 2006, “Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robots,” ASME J. Mech Des., 128(1), pp. 199–206. [CrossRef]
Hubert, J., and Merlet, J.-P., 2009, “Static of Parallel Manipulators and Closeness to Singularity,” J. Mech. Rob., 1(1).
Briot, S., Pashkevich, A., and Chablat, D., 2010, “Optimal Technology-Oriented Design of Parallel Robots for High-Speed Machining Applications,” Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May 3–8.
“ Terminology for the Mechanism and Machine Science,” 2003, Mech. Mach. Theory, 38.
Campos, L., Bourbonnais, F., Bonev, I. A., and Bigras, P., 2010, “Development of a Five-Bar Parallel Robot With Large Workspace,” Proceedings of the International Design Engineering Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE, Montréal, Québec, Canada, Aug. 15–18.
Briot, S., Arakelian, V., and Guégan, S., 2008, “Design and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator With High-Load Carrying Capacity,” J. Mech. Des., 130(12), p. 122303. [CrossRef]
Chablat, D., Wenger, P., and Angeles, J., 1998, “The Isoconditioning Loci of a Class of Closed-Chain Manipulators,” Proceedings of the IEEE International Conference on Robotics and Automation, May, pp. 1970–1976.


Grahic Jump Location
Fig. 1

Planar 5R manipulator close to a type 2 singular pose

Grahic Jump Location
Fig. 2

Determination of the pressure angle for the planar 3- RPR robot

Grahic Jump Location
Fig. 3

Instantaneous system equivalent to the planar 3-RPR robot platform

Grahic Jump Location
Fig. 4

Kinematic chain of the planar five-bar robot

Grahic Jump Location
Fig. 6

Variation of the robot joint reaction (in Newton) within the workspace for f = 100 N

Grahic Jump Location
Fig. 7

Workspace shape as a function of the maximal pressure angle αmax

Grahic Jump Location
Fig. 8

Kinematics of the PAMINSA

Grahic Jump Location
Fig. 9

Variations of the joint reaction (in Newton) at point B1 within the workspace for several platform orientations ϕ, for f = 100 N and m = 5 Nm

Grahic Jump Location
Fig. 10

Constant orientation workspace as a function of Rmax and the platform orientation ϕ




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In