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Research Papers

Force/Motion Transmissibility Analysis of Six Degree of Freedom Parallel Mechanisms

[+] Author and Article Information
Tian Huang

Key Laboratory of Mechanism Theory and
Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: tianhuang@tju.edu.cn, tian.huang@warwick.ac.uk

Manxin Wang

Key Laboratory of Mechanism Theory and
Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: wangmxtju@aliyun.com

Shuofei Yang

Key Laboratory of Mechanism Theory and
Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: yangsf@tju.edu.cn

Tao Sun

Key Laboratory of Mechanism Theory and
Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: stao@tju.edu.cn

Derek G. Chetwynd

School of Engineering,
University of Warwick,
Coventry CV4 7AL, UK
e-mail: D.G.Chetwynd@warwick.ac.uk

Fugui Xie

Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: xiefg@mail.tsinghua.edu.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received August 15, 2013; final manuscript received December 24, 2013; published online April 21, 2014. Assoc. Editor: Yuefa Fang.

J. Mechanisms Robotics 6(3), 031010 (Apr 21, 2014) (5 pages) Paper No: JMR-13-1161; doi: 10.1115/1.4026631 History: Received August 15, 2013; Revised December 24, 2013

Drawing mainly on the concepts of dual space and dual basis in linear algebra and on existing screw theory, this paper presents a novel and systematic approach for the force/motion transmissibility analysis of 6DOF parallel mechanisms. By taking the reciprocal product of a wrench on a twist as a linear functional, the property exhibited by the dual basis allows the formulation of the force/motion transmissibility between the joint space and operation space in an accurate and concise manner. The consistency between the force/motion transmissibility and the minimum singular value of the Jacobian for singularity identification is rigorously proved. This leads to the development of a set of homogeneously dimensionless local and global transmission indices for measuring the closeness to singular configurations as well as for kinematic performance evaluation over a given workspace. A Stewart platform is employed an exemplar to illustrate the effectiveness of the approach.

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Figures

Grahic Jump Location
Fig. 1

The schematic diagram of a 3/6 Stewart platform

Grahic Jump Location
Fig. 2

Distribution of ηP versus ψ = 0-360 deg and θ = 0-120 deg of a 3/6 Stewart platform

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