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A dual space approach for force/motion transmissibility analysis of lower mobility parallel manipulators
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Liu, Haitao, Wang, Manxin, Huang, Tian, Chetwynd, D. G. and Kecskeméthy, Andrés (2015) A dual space approach for force/motion transmissibility analysis of lower mobility parallel manipulators. Journal of Mechanisms and Robotics, 7 (3). 034504. doi:10.1115/1.4030371 ISSN 1942-4302.
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Official URL: http://dx.doi.org/10.1115/1.4030371
Abstract
By drawing on the duality of twist space and wrench space, this paper presents a general and systematic approach for force/motion transmissibility analysis of lower mobility nonredundant and nonoverconstrained parallel manipulators. This leads to the formulation of a complete and justifiable model that enables the force/motion transmissibility analysis to be integrated into a unified framework under the umbrella of a homogenous and decoupled linear transformation that maps the coordinates of the platform wrench/twist in the joint space to its natural coordinates in the operation space. Utilizing the penalty method to avoid the indeterminate form “0/0” when the local maximum of a virtual coefficient approaches zero, a set of dimensionally homogeneous transmission indices is proposed which can be employed for precisely representing the closeness to different types of singularities defined in twist space as well as for dimensional optimization. An example is given to illustrate the effectiveness of this approach.
| Item Type: | Journal Article | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||||
| Journal or Publication Title: | Journal of Mechanisms and Robotics | ||||||||
| Publisher: | A S M E International | ||||||||
| ISSN: | 1942-4302 | ||||||||
| Official Date: | 1 August 2015 | ||||||||
| Dates: |
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| Volume: | 7 | ||||||||
| Number: | 3 | ||||||||
| Article Number: | 034504 | ||||||||
| DOI: | 10.1115/1.4030371 | ||||||||
| Status: | Peer Reviewed | ||||||||
| Publication Status: | Published | ||||||||
| Access rights to Published version: | Restricted or Subscription Access |
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