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A Transmission Quality Index for a Class of Four-limb Parallel Schönflies Motion Generators

Abstract : This paper presents a uniform evaluation method for both transmission quality and singularity analysis for a class of parallel Schönflies-motion generators with four RRΠRR 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, and 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 and the detection of robot singularities. Five robots are compared based on the proposed indices as an illustrative example.
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https://hal.archives-ouvertes.fr/hal-01860812
Contributor : Stéphane Caro <>
Submitted on : Thursday, August 23, 2018 - 6:13:45 PM
Last modification on : Thursday, February 27, 2020 - 1:21:30 AM
Document(s) archivé(s) le : Saturday, November 24, 2018 - 4:28:50 PM

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Guanglei Wu, Shaoping Bai, Stéphane Caro. A Transmission Quality Index for a Class of Four-limb Parallel Schönflies Motion Generators. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2018, 10 (5), pp.051014. ⟨10.1115/1.4040353⟩. ⟨hal-01860812⟩

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