Performance evaluation of parallel manipulators: Motion/force transmissibility and its index
Performance evaluation of parallel manipulators: Motion/force transmissibility and its index
复制标题
并联机械手性能评估：运动/力传递率及其指标
DOI：
10.1016/j.mechmachtheory.2010.05.001
复制
发表时间：
2010-10-01
影响因子：
5.2
通讯作者：
Liu, Xin-Jun
中科院分区：
文献类型：
--
作者：
Wang, Jinsong;Wu, Chao;Liu, Xin-Jun
性能评价是并联机器人分析和设计中的重要问题之一。并联机器人作为串联机器人的对应机器人，大多擅长运动/力的传递，但不擅长灵巧操作。在这项研究中，一个广义的传输指标，可以评估完全并联机器人的运动/力传递率的虚拟系数的基础上提出的。这里定义的透射指数是无标架的，并且与奇异性有关。通过给定一个特定的有效值，该指标可用于确定一个良好的传动工作空间（GTW），使并联机器人不仅具有良好的运动/力传递能力，而且远离其奇异性。介绍了两并联机器人的传动性能分析方法和无框架指标。所提出的运动/力传递率分析方法和指标有望应用于全并联机器人的分析和运动优化设计。(C)2010爱思唯尔有限公司版权所有。
Performance evaluation is one of most important issues in the analysis and design of parallel manipulators. As the counterparts of serial robots, parallel manipulators are mostly good at motion/force transmission but not dexterous manipulation. In this study, a generalized transmission index that can evaluate the motion/force transmissibility of fully parallel manipulators is proposed based on the virtual coefficient. The transmission index defined here is frame-free and is relative to singularity. By giving a specified and significant value, the index can be used to identify a good transmission workspace (GTW), where the parallel manipulator is not only good at motion/force transmission, but is also far away from its singularity. To introduce the analysis method and the frame-free index, the transmission performance analysis of two parallel manipulators is presented. The analysis method of motion/force transmissibility and the proposed index are expected to be applied to the analysis and kinematic optimal design of fully parallel manipulators. (C) 2010 Elsevier Ltd. All rights reserved.