A Transmission Quality Index for a Class of Four-limb Parallel Schoenflies Motion Generators

[+] Author and Article Information
Guanglei Wu

Associate Professor, School of Mechanical Engineering, Dalian University of Technology, No.2 Linggong Road, High-tech Park District, 116024 Dalian, China

Shaoping Bai

Associate Professor, Department of Materials and Production, Aalborg University, Fibigerstræde 16, DK-9220 Aalborg, Denmark

Stéphane Caro

CNRS Researcher, Laboratoire des Sciences du Numérique de Nantes, UMR CNRS 6004, Ecole Centrale de Nantes, 44321 Nantes, France

1Corresponding author.

ASME doi:10.1115/1.4040353 History: Received March 17, 2017; Revised May 09, 2018


This paper presents a uniform method of evaluating both transmission quality and singularity applicable for a class of parallel Schoenflies-motion generators with four RRPaRR limbs. It turns out that the determinant of the forward Jacobian matrices for this class of parallel robots can be expressed as the scalar product of two vectors, the first vector being the cross product of the four unit vectors along the parallelograms, and the second one being related to the rotation of the mobile platform. The pressure angles, derived from the determinants of forward and inverse Jacobians, respectively, are used for the evaluation of the transmission quality and the detection of robot singularities. Four robots are compared based on the proposed indices as illustrative examples.

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