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论文类型： 会议论文

发表时间： 2018-01-01

收录刊物： Scopus、EI、CPCI-S

卷号： 50

页面范围： 282-290

关键字： Schonflies motion; Jacobian; Pressure angle; Transmission

摘要： This paper investigated the motion/force transmission quality for a class of parallel Schonflies-motion generators built with four identical RR Pi RR-type limbs. It turns out that the determinant of the forward Jacobian matrices for this class of parallel robots can be expressed as the scalar product of two vectors, the first vector being the cross product of the four unit vectors along the parallelograms, the second one being related to the rotation of the mobile platform. The pressure angles, derived from the determinants of forward and inverse Jacobians, respectively, are used for the evaluation of the transmission quality of the robots. Four robots are compared based on the proposed method as illustrative examples.