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01.11.2017 | Original Article | Ausgabe 6/2017 Open Access

Chinese Journal of Mechanical Engineering 6/2017

Transmission Index Research of Parallel Manipulators Based on Matrix Orthogonal Degree

Zeitschrift:
Chinese Journal of Mechanical Engineering > Ausgabe 6/2017
Autoren:
Zhu-Feng Shao, Jiao Mo, Xiao-Qiang Tang, Li-Ping Wang
Wichtige Hinweise
Supported by National Natural Science Foundation of China (Grant Nos. 51575292, 51475252, 91648107), National Key Technology Research and Development Program of China (Grant No. 2105BAF19B00), and National Science and Technology Major Project of China (Grant No. 2016ZX04004004).

Abstract

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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