Transmission Index Research of Parallel Manipulators Based on Matrix Orthogonal Degree

Chinese Journal of Mechanical Engineering

Jiao Mo¹  Li-Ping Wang²  Xiao-Qiang Tang³  Zhu-Feng Shao³ 

[1] Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, 100084, Beijing, China;State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Tsinghua University, 100084, Beijing, China;State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Tsinghua University, 100084, Beijing, China;Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, 100084, Beijing, China;

关键词: Transmission index;    Parallel mechanism;    Kinematic performance;    Matrix orthogonal degree;   

DOI  :  10.1007/s10033-017-0193-2

来源: Springer

【 摘 要 】

Performance index is the standard of performance evaluation, and is the foundation of both performance analysis and optimal design for the parallel manipulator. Seeking the suitable kinematic indices is always an important and challenging issue for the parallel manipulator. So far, there are extensive studies in this field, but few existing indices can meet all the requirements, such as simple, intuitive, and universal. To solve this problem, the matrix orthogonal degree is adopted, and generalized transmission indices that can evaluate motion/force transmissibility of fully parallel manipulators are proposed. Transmission performance analysis of typical branches, end effectors, and parallel manipulators is given to illustrate proposed indices and analysis methodology. Simulation and analysis results reveal that proposed transmission indices possess significant advantages, such as normalized finite (ranging from 0 to 1), dimensionally homogeneous, frame-free, intuitive and easy to calculate. Besides, proposed indices well indicate the good transmission region and relativity to the singularity with better resolution than the traditional local conditioning index, and provide a novel tool for kinematic analysis and optimal design of fully parallel manipulators.

【 授权许可】

CC BY