Liu, Haitao, Huang, Tian, Kecskeméthy, Andrés and Chetwynd, D. G. (2014) A generalized approach for computing the transmission index of parallel mechanisms. Mechanism and Machine Theory, 74 . pp. 245-256. doi:10.1016/j.mechmachtheory.2013.12.012

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Abstract

This paper presents a novel approach for computing the transmission index of parallel mechanisms. The approach is based on an extended concept to compute the maximal virtual coefficient, which is an important notion involved in the formulation of dimensionally homogeneous transmission indices for singularity analysis and dimensional optimization of parallel mechanisms. By exploiting the dual property of the virtual coefficient, two characteristic points instead of one as in the current state of the art are defined: one characteristic point – termed the transmission characteristic point – is located on the ‘floating’ axis of the transmission wrench, as in existing approaches, while a second one – termed the output characteristic point – is located on the floating axis of the output twist of the platform, which is a novel concept. This allows one to define two characteristic lengths, namely, the transmission and output characteristic lengths, respectively, of which the larger is then used for the measure of the “distance” between the transmission wrench screw and the output twist screw. As shown in this paper, this new measure makes it possible to discern more finely the configuration-dependent properties of kinematic performance of parallel mechanisms, thus making it more suitable for dimensional optimization. Confidence in this statement is demonstrated through the comparative study of two in-parallel mechanisms using the new method and previously existing ones.

Item Type:	Journal Article
Subjects:	T Technology > TS Manufactures
Divisions:	Faculty of Science > Engineering
Library of Congress Subject Headings (LCSH):	Parallel kinematic machines
Journal or Publication Title:	Mechanism and Machine Theory
Publisher:	Pergamon-Elsevier Science Ltd.
ISSN:	0094-114X
Official Date:	April 2014
Dates:	Date Event April 2014 Published
Volume:	74
Number of Pages:	12
Page Range:	pp. 245-256
DOI:	10.1016/j.mechmachtheory.2013.12.012
Status:	Peer Reviewed
Publication Status:	Published
Access rights to Published version:	Restricted or Subscription Access
Funder:	Guo jia zi ran ke xue ji jin wei yuan hui (China) [National Natural Science Foundation of China] (NSFC), Seventh Framework Programme (European Commission) (FP7), Alexander von Humboldt-Stiftung (AvHS)
Grant number:	51135008 (NSFC), FP7-PEOPLE-2012-IRSES (FP7),

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