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Research Papers

Evaluation of Force/Torque Transmission Quality for Parallel Manipulators

[+] Author and Article Information
Xiang Chen

The State Key Laboratory of Tribology and
Institute of Manufacturing Engineering,
Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China

Chao Chen

Mem. ASME
Department of Mechanical
and Aerospace Engineering,
Monash University,
Clayton, Victoria 3802, Australia
e-mail: chao.chen@monash.edu

Xin-Jun Liu

The State Key Laboratory of Tribology and
Institute of Manufacturing Engineering,
Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: xinjunliu@mail.tsinghua.edu.cn

1Corresponding author.

Manuscript received April 26, 2014; final manuscript received November 13, 2014; published online April 6, 2015. Assoc. Editor: Yuefa Fang.

J. Mechanisms Robotics 7(4), 041013 (Nov 01, 2015) (9 pages) Paper No: JMR-14-1094; doi: 10.1115/1.4029188 History: Received April 26, 2014; Revised November 13, 2014; Online April 06, 2015

Performance evaluation is one of the most important issues in the analysis and design of parallel manipulators. The internal forces and torques in parallel manipulators contribute to manipulating the end-effectors and resisting the external loads. In this work, we propose a transmission index to evaluate the force and torque transmission quality of parallel manipulators. The index is normalized and used to analyze the exactly constrained parallel manipulators, based on the transmission matrix spanned by transmission wrench screws (TWSs). Furthermore, the index is applied to parallel manipulators with different degrees of freedom (DOF) in order to illustrate and validate the proposed approach and index. Finally, a typical parallel manipulator is selected to address the comparison analysis between different indices, which demonstrates that the proposed index, possessing respective merits, could be complementary to other existing indices.

Copyright © 2015 by ASME
Topics: Manipulators , Torque
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References

Figures

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Fig. 1

A platform constrained by a set of TWSs

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Fig. 2

Unit wrench on the platform

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Fig. 3

A RPRPR parallel manipulator

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Fig. 5

A parallel singular configuration of RPRPR parallel manipulator

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Fig. 4

Distribution of the NPI in the workspace of RPRPR parallel manipulator

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Fig. 6

A 3-RRR manipulator

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Fig. 13

Distribution atlas of the index in the chosen spatial workspace

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Fig. 7

Distribution of the index in the translational workspace with rotational angle ϕ = 0

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Fig. 8

Distribution of the index in the translational workspace with rotational angle ϕ = -30 deg

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Fig. 9

Relationship between index and rotational angles with constant position: x = 0,y = 0

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Fig. 10

A parallel singular configuration when the moving platform locates at x = 1,y = 5.2 and ϕ = -30 deg

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Fig. 11

A parallel singular configuration when the moving platform locates at x = 0,y = 0 and ϕ = 136 deg

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Fig. 12

A spatial 3-RPS parallel manipulator

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Fig. 16

Distribution of the index in the translational spatial workspace while fixing the three rotational angles as zero

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Fig. 17

Distribution of the index in the selected middle slice by fixing the z-axis and three rotational angles, z = 1.5, φ = 0 ,θ = 0 ,ϕ = 0 

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Fig. 14

Distribution atlas of the index in the selected slice with change of x- and y-coordinates when fixing z-axis, z = 6

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Fig. 15

A spatial Stewart manipulator

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Fig. 18

Distributions of the index in a rotational workspace while fixing translational coordinates as x,y = 0, and z = 1.5

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Fig. 19

A spatial Delta robot

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Fig. 20

Distribution of LCI index in the chosen workspace of Delta robot with respect to (a) o-xyz and (b) o-x′y′z′ coordinates

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Fig. 21

Distribution of NPI index in the chosen workspace of Delta robot with respect to (a) o-xyz, and (b) o-x′y′z′ coordinates

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