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2014 | OriginalPaper | Chapter

7. Performance Evaluation of Parallel Mechanisms

Authors : Xin-Jun Liu, Jinsong Wang

Published in: Parallel Kinematics

Publisher: Springer Berlin Heidelberg

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Abstract

This chapter concerns several new performance evaluation indices available for parallel mechanisms as well as introducing the use of conventional but the most frequently used indices. The performance evaluation of parallel mechanisms is the foundation of optimal design and also a challenging task. Some Jacobian-based indices such as condition number and manipulability are no longer suitable for those parallel mechanisms with rotation-translation coupling. In this case, it is necessary to address several better performance indices. Therefore, in addition to commonly used indices for evaluating the kinematic performances such as the workspace, stiffness, and accuracy of a parallel mechanism, a series of novel frame-free indices in terms of motion/force transmissibility, including input transmission index (ITI), output transmission index (OTI), constraint transmission index (CTI), and local singularity index (LSI), are presented and illustrated by several parallel mechanisms.

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When the input of the manipulator is given, if its output motion is definite, the manipulator is said to be motion definite; otherwise, the manipulator is considered motion indefinite.

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Title: Performance Evaluation of Parallel Mechanisms
Authors: Xin-Jun Liu
Jinsong Wang
Publisher: Springer Berlin Heidelberg
Book: Parallel Kinematics
Print ISBN: 978-3-642-36928-5

Electronic ISBN: 978-3-642-36929-2

Copyright Year: 2014
DOI: https://doi.org/10.1007/978-3-642-36929-2_7

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