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论文类型： 期刊论文

发表时间： 2018-10-01

发表刊物： JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME

收录刊物： SCIE

卷号： 10

期号： 5

ISSN号： 1942-4302

摘要： This paper presents a uniform method of evaluating both transmission quality and singularity applicable for a class of parallel Schonflies-motion generators (SMGs) with four RR Pi RR 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, and the second one being related to the rotation of the mobile platform (MP). The pressure angles, derived from the determinants of forward and inverse Jacobians, respectively, are used for the evaluation of the transmission quality and the detection of robot singularities. Four robots are compared based on the proposed indices as illustrative examples.