An Approach for Computing the Transmission Index of 3-DOF Planar Multi-loop Mechanisms

[+] Author and Article Information
Xingwei Zhao

Chair of Mechatronics and Machine Dynamics, Technical University of Berlin, Berlin 10587, Germany

Haitao Liu

Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China

Huafeng Ding

School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan 430074, China

Lu Qian

Institute of Automatic Control and Complex Systems, University of Duisburg-Essen, Duisburg 47057, Germany

1Corresponding author.

ASME doi:10.1115/1.4036718 History: Received June 06, 2016; Revised April 18, 2017


This paper presents a novel approach for the force/motion transmissibility analysis of 3 degree of freedom planar multi-loop mechanisms by drawing on the duality of twist space and wrench space. By making a comparison study on the velocity model of planar parallel mechanisms and that of planar multi-loop mechanisms, it is concluded that the velocity model of a planar multi-loop mechanism can be expressed as the form of a planar parallel mechanism. Thereby, a set of dimensionally homogeneous transmission indices are proposed which can be employed for precisely representing the closeness to different types of singularities as well as for dimensional optimization. A 3-RRR parallel mechanism and a 3-DOF planar multi-loop mechanism for face-shovel excavation are taken as examples to demonstrate the validity and effectiveness of the proposed method.

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