This paper presents a uniform method of evaluating both transmission quality and singularity applicable for a class of parallel Schönflies-motion generators (SMGs) with four 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 (MP). 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.
A Transmission Quality Index for a Class of Four-Limb Parallel Schönflies Motion Generators
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 17, 2017; final manuscript received May 9, 2018; published online July 30, 2018. Assoc. Editor: Marc Gouttefarde.
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Wu, G., Bai, S., and Caro, S. (July 30, 2018). "A Transmission Quality Index for a Class of Four-Limb Parallel Schönflies Motion Generators." ASME. J. Mechanisms Robotics. October 2018; 10(5): 051014. https://doi.org/10.1115/1.4040353
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