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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,
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

## Abstract

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.

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## Figures

Fig. 1

Planar 5R manipulator close to a type 2 singular pose

Fig. 2

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

Fig. 3

Instantaneous system equivalent to the planar 3-RPR robot platform

Fig. 4

Kinematic chain of the planar five-bar robot

Fig. 6

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

Fig. 7

Workspace shape as a function of the maximal pressure angle αmax

Fig. 8

Kinematics of the PAMINSA

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

Fig. 10

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

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