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Force/motion transmissibility analysis of six degree of freedom parallel mechanisms
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Huang, Tian, Wang, Manxin, Yang, Shuofei, Sun, Tao, Chetwynd, D. G. and Xie, Fugui (2014) Force/motion transmissibility analysis of six degree of freedom parallel mechanisms. Journal of Mechanisms and Robotics, Volume 6 (Number 3). Article number 031010. doi:10.1115/1.4026631 ISSN 1942-4302.
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Official URL: http://dx.doi.org/10.1115/1.4026631
Abstract
Drawing mainly on the concepts of dual space and dual basis in linear algebra and on existing screw theory, this paper presents a novel and systematic approach for the force/motion transmissibility analysis of 6DOF parallel mechanisms. By taking the reciprocal product of a wrench on a twist as a linear functional, the property exhibited by the dual basis allows the formulation of the force/motion transmissibility between the joint space and operation space in an accurate and concise manner. The consistency between the force/motion transmissibility and the minimum singular value of the Jacobian for singularity identification is rigorously proved. This leads to the development of a set of homogeneously dimensionless local and global transmission indices for measuring the closeness to singular configurations as well as for kinematic performance evaluation over a given workspace. A Stewart platform is employed an exemplar to illustrate the effectiveness of the approach.
| Item Type: | Journal Article | ||||||
|---|---|---|---|---|---|---|---|
| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||
| Journal or Publication Title: | Journal of Mechanisms and Robotics | ||||||
| Publisher: | ASME | ||||||
| ISSN: | 1942-4302 | ||||||
| Official Date: | April 2014 | ||||||
| Dates: |
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| Volume: | Volume 6 | ||||||
| Number: | Number 3 | ||||||
| Article Number: | Article number 031010 | ||||||
| DOI: | 10.1115/1.4026631 | ||||||
| Status: | Peer Reviewed | ||||||
| Publication Status: | Published | ||||||
| Access rights to Published version: | Restricted or Subscription Access |
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