A generalized approach for computing the transmission index of parallel mechanisms
By Haitao Liu, Tian Huang, Andrés Kecskemethy, Derek G. Chetwynd. 2014
53 citations recorded by the source corpus.
This paper presents a novel approach for computing the transmission index of parallel mechanisms. The approach is based on an extended concept to compute the maximal virtual coefficient, which is an important notion involved in the formulation of dimensionally homogeneous transmission indices for singularity analysis and dimensional optimization of parallel mechanisms. By exploiting the dual property of the virtual coefficient, two characteristic points instead of one as in the current state of the art are defined: one characteristic point – termed the transmission characteristic point – is located on the ‘floating’ axis of the transmission wrench, as in existing approaches, while a second one – termed the output characteristic point – is located on the floating axis of the output twist of the platform, which is a novel concept. This allows one to define two characteristic lengths, namely, the transmission and output characteristic lengths, respectively, of which the larger is then used for the measure of the “distance” between the transmission wrench screw and the output twist screw. As shown in this paper, this new measure makes it possible to discern more finely the configuration-dependent properties of kinematic performance of parallel mechanisms, thus making it more suitable for dimensional optimization. Confidence in this statement is demonstrated through the comparative study of two in-parallel mechanisms using the new method and previously existing ones.
Subfields: Control and Systems Engineering, Mechanical Engineering
View Paper: https://www.semanticscholar.org/paper/752dcc2fa5c9fca563a2d44237b5dc54f9ff1f4a
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In Control and Systems Engineering
In Mechanical Engineering
Citations in the corpus
- Variable motion/force transmissibility of a metamorphic parallel mechanism with reconfigurable 3T and 3R motion (2015, background): “Due to the coordinate inhomogeneity and some defective cases of the condition number with parallel mechanisms[26,27], motion/force transmission which represents the effective work of a unit wrench on a unit output twist has been recently well developed and corresponding indices were proposed [26–29]”