Transmission Index Research of Parallel Manipulators Based on Matrix Orthogonal Degree
Transmission Index Research of Parallel Manipulators Based on Matrix Orthogonal Degree
复制标题
基于矩阵正交度的并联机构传动指标研究
DOI：
10.1007/s10033-017-0193-2
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发表时间：
2017-10
期刊：
影响因子：
--
通讯作者：
Wang Li-Ping
中科院分区：
文献类型：
--
作者：
Shao Zhu-Feng;Mo Jiao;Tang Xiao-Qiang;Wang Li-Ping
性能指标是性能评估的标准，是并联机器人性能分析和优化设计的基础。寻求合适的运动学指标对于并联机器人来说一直是一个重要且具有挑战性的问题。
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.
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影响因子：
3.3
作者：
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通讯作者：
V. Murthy;K. Waldron
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影响因子：
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DOI：
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发表时间：
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期刊：
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影响因子：
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DOI：
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发表时间：
2005-08
期刊：
The International Journal of Advanced Manufacturing Technology
影响因子：
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