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2019 | OriginalPaper | Buchkapitel

10. Comparison of Motion/Force Transmissibility in a 3-SPR Parallel Manipulator and a 6-SPS Equivalent Mechanism

verfasst von : M. Russo, M. Ceccarelli, Y. Takeda

Erschienen in: Robotics and Mechatronics

Verlag: Springer International Publishing

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Abstract

The analysis of motion/force transmissibility and constrainability is a key point in the design of parallel manipulators. Even if recent advances led to a general formulation for a transmission index, the application to lower-mobility parallel manipulators requires additional investigation of the constraints of the system. This paper applies a definition of the output transmission index evaluated from the pressure angle of the mechanism to a particular 3-SPR (Spherical-Prismatic-Revolute Joint) parallel manipulator, which is characterized by a moving platform consisting of a single point where all the three open-loop kinematic chains converge. The Output Transmission Index OTI₃ of the mechanism is computed through the pressure angle definition. However, this index can only take into account the motion/force transmissibility of the mechanism acting as a pointing device, without considering the rotational motion of the moving platform. Therefore, an equivalent 6-SPS (Spherical-Prismatic-Spherical Joint) parallel manipulator is analyzed and its Output Transmission Index OTI₆ is evaluated. The results are then compared and discussed, in order to highlight the similarities and differences between the two different formulations.

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Titel: Comparison of Motion/Force Transmissibility in a 3-SPR Parallel Manipulator and a 6-SPS Equivalent Mechanism
verfasst von: M. Russo
M. Ceccarelli
Y. Takeda
Verlag: Springer International Publishing
Buch: Robotics and Mechatronics
Print ISBN: 978-3-030-17676-1

Electronic ISBN: 978-3-030-17677-8

Copyright-Jahr: 2019
DOI: https://doi.org/10.1007/978-3-030-17677-8_10

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