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A generalized approach for computing the transmission index of parallel mechanisms
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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 ISSN 0094-114X.
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WRAP_9974528-es-130316-a_generalized_approach_for_computing_the_transmission_index-mmt-2014.pdf - Accepted Version - Requires a PDF viewer. Download (2049Kb) | Preview |
Official URL: http://dx.doi.org/10.1016/j.mechmachtheory.2013.12...
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 | ||||
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Subjects: | T Technology > TS Manufactures | ||||
Divisions: | Faculty of Science, Engineering and Medicine > Engineering > 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: |
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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 | ||||
Date of first compliant deposit: | 23 March 2016 | ||||
Date of first compliant Open Access: | 24 March 2016 | ||||
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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