Transmission Quality Evaluation for a Class of Four-limb Parallel Schönflies-motion Generators with Articulated Platforms

Guanglei Wu (1) , Shaoping Bai (1) , Stéphane Caro (2, 3, 4)

1 M-TECH - Department of Mechanical and Manufacturing Engineering [Aalborg]
2 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
3 LS2N - Laboratoire des Sciences du Numérique de Nantes
4 CNRS - Centre National de la Recherche Scientifique

This paper investigated the motion/force transmission quality for a class of parallel Schönflies-motion generators built with four identical RRΠ RR-type limbs. It turns out that the determinant of the forward Jacobian matrices for this class of parallel robots can be expressed as the scalar product of two vectors, the first vector being the cross product of the four unit vectors along the parallelograms, the second one being related to the rotation of the mobile platform. The pressure angles, derived from the determinants of forward and inverse Jacobians, respectively, are used for the evaluation of the transmission quality of the robots. Four robots are compared based on the proposed method as illustrative examples.

Mots clés: Schönflies motion; Jacobian; pressure angle; transmission

Domaines: Génie mécanique [physics.class-ph]; Automatique / Robotique

Guanglei Wu, Shaoping Bai, Stéphane Caro. Transmission Quality Evaluation for a Class of Four-limb Parallel Schönflies-motion Generators with Articulated Platforms. The 7th IFToMM International Workshop on Computational Kinematics~(CK2017), May 2017, Poitiers, France. ⟨hal-01757946⟩