Singularities are one of the most important issues affecting the performance of parallel mechanisms. Therefore, analysis of their locations and closeness is essential for the development of a high-performance mechanism. The screw theory based motion/force transmission analysis provides such a closeness measure in terms of the work performed between specific mechanism twists and wrenches. As such, this technique has been applied to many serial chain parallel mechanisms. However, the motion/force transmission performance of parallel mechanisms with mixed topology chains is yet to be examined. These chains include linkages in both series and parallel, where the parallel portion is termed a closed-loop subchain (CLSC). This paper provides an analysis of such chains, where the CLSC is a planar four-bar linkage. In order to completely define the motion/force transmission abilities of these mechanisms, adapted wrench definitions are introduced. The proposed methodology is applied to a family of two degrees-of-freedom planar axis-symmetric parallel mechanisms, each with a different CLSC configuration. The presented analysis provides the first complete motion/force transmission analysis of such mechanisms.
Motion/Force Transmission Analysis of Planar Parallel Mechanisms With Closed-Loop Subchains
Manuscript received September 29, 2015; final manuscript received March 13, 2016; published online April 19, 2016. Assoc. Editor: Jian S. Dai.
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Marlow, K., Isaksson, M., and Nahavandi, S. (April 19, 2016). "Motion/Force Transmission Analysis of Planar Parallel Mechanisms With Closed-Loop Subchains." ASME. J. Mechanisms Robotics. August 2016; 8(4): 041019. https://doi.org/10.1115/1.4033158
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