Force Transmissibility Performance of Parallel Manipulators
Force Transmissibility Performance of Parallel Manipulators
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DOI：
10.1002/rob.10115
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发表时间：
2003-11
期刊：
影响因子：
--
通讯作者：
Wen-Tung Chang;Chen-Chou Lin;J. Lee
中科院分区：
文献类型：
--
作者：
Wen-Tung Chang;Chen-Chou Lin;J. Lee
提出了一种新的力传递指标--平均力传递指标（MFTI），建立了并联机器人力传递率的分析方法。MFTI是作者以前引入的力传递指数（FTI）的扩展定义。结果表明，对于同一构型的多自由度机构，FTI是输入速度比（IVR）的函数。为了用一个确定的值来表示力传递率，MFTI被定义为在IVR的整个范围内归一化的FTIs函数的平均值。利用多自由度干涉法对平面并联机器人的力传递率进行了分析。并与雅可比矩阵法和关节力指数法进行了比较。结果表明，特别是对于对称并联机器人，JFI和MFTI之间，最大输入转矩/力和MFTI之间存在近似的反比例关系。结果表明，MFTI可以作为并联机器人力传递性能的定量度量。最后，以该模型为基础，研究了一个设计优化问题。
In this paper, a new force transmission index called the mean force transmission index (MFTI) is proposed, and the force transmissibility analysis procedure is established for parallel manipulators. The MFTI is an extended definition of the force transmission index (FTI) introduced by the authors previously. It is shown that the FTI is a function of the input velocity ratio (IVR) for a multi-DOF mechanism of the same configuration. To represent the force transmissibility by a definite value, the MFTI is defined as the mean value of the normalized FTIs function over the whole range of the IVR. The force transmissibility analysis of two planar parallel manipulators is illustrated using the MFTI method. The result is compared with that of the Jacobian matrix method and the joint force index (JFI) method. It shows that, especially for symmetric parallel manipulators, an approximate inverse-proportionality relationship exists between the JFI and MFTI, and between the maximum input torque/force and MFTI. It is concluded that the MFTI can be used as a quantitative measure of the force transmissibility performance for parallel manipulators. In the end, a design optimization problem is studied by taking the