An approach for the force/motion transmissibility analysis of full mobility planar multiloop mechanisms (PMLM) is proposed in this paper by drawing on the duality of twist space and wrench space. By making a comparison study, it is concluded that the velocity model of a full mobility planar multiloop mechanism can be expressed in the same form as that of a full mobility planar parallel mechanism (PPM). Thereby, a set of dimensionally homogeneous transmission indices is 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 full mobility planar multiloop mechanism for face-shovel excavation are taken as examples to demonstrate the validity and effectiveness of the proposed approach.
An Approach for Computing the Transmission Index of Full Mobility Planar Multiloop Mechanisms
Manuscript received June 6, 2016; final manuscript received April 18, 2017; published online June 14, 2017. Assoc. Editor: Yuefa Fang.
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Zhao, X., Liu, H., Ding, H., and Qian, L. (June 14, 2017). "An Approach for Computing the Transmission Index of Full Mobility Planar Multiloop Mechanisms." ASME. J. Mechanisms Robotics. August 2017; 9(4): 041017. https://doi.org/10.1115/1.4036718
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