Parallel Manipulators' Analysis by Transmission Angle

Abstract:

This paper presents a novel common approach to analysis the transmission angle of a type of parallel manipulators whose traveling plate has only translation in the workspace and each limb is made up of three joints and two moving links. Two types of transmission angles are defined to evaluate the kinematic performance of parallel manipulators, with which the direct and indirect singularities can be identified in a straightforward manner. Considering the effects of transmission angles, a global and comprehensive index is presented. The kinematic optimization of a new manipulator has been taken as an example to illustrate the effectiveness of this approach.

• Periodical: Applied Mechanics and Materials (Volumes 401-403)
• Pages: 226-230
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.401-403.226
• Online since: September 2013
• Authors: Jiang Ping Mei, Li Hong Hu
• Keywords: Optimal Design, Parallel Manipulator, Singular Configuration, Transmission Angle

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