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research-article

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
wangmxtju@aliyun.com

Haitao Liu

Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China
liuht@tju.edu.cn

Huafeng Ding

School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan 430074, China
dhf@ysu.edu.cn

Lu Qian

Institute of Automatic Control and Complex Systems, University of Duisburg-Essen, Duisburg 47057, Germany
qianluzxw@gmail.com

1Corresponding author.

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

Abstract

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.

Copyright (c) 2017 by ASME
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