Abstract
The motion and force transmission is highly important for the analysis and design of parallel manipulators. Recent advances in research have led to generally applicable formulations for transmission indices based on the notion of power coefficient. Analyses of limited-dof parallel manipulators however require separate consideration of constraint characteristics. Conversely, the design parameters of parallel manipulators are highly coupled. Thus, such separation may distort the performance evaluation and optimization of parallel manipulators. In this context, indices based on pressure angles of fully parallel manipulators are revisited and applied to the performance evaluation of the Delta robot, one of the lower-dof parallel robots. The resulting index is physically appropriate and allows for simultaneous assessment of both, the motion and force transmission and the constraint characteristics.
Keywords
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Angeles, J.: Fundamentals of robotic mechanical systems. Springer (2014)
Gosselin, C., Angeles, J.: The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator. J. Mech. Trans. Autom. Des. 110(1) (1988)
Yoshikawa, T.: Manipulability of robotic mechanisms. Int. J. Robot. Res. 4(2), 3–9 (1985)
Cardou, P., et al.: Kinematic-sensitivity indices for dimensionally nonhomogeneous Jacobian matrices. IEEE Trans. Robot. 26(1), 166–173 (2010)
Joshi, S.A., Tsai, L.-W.: Jacobian analysis of limited-DOF parallel manipulators. J. Mech. Des. 124(2), 254–258 (2002)
Xie, F., et al.: Performance evaluation of redundant parallel manipulators assimilating motion/force transmissibility. Int. J. Adv. Robot. Sys. 8(5), 113–124 (2011)
Alt, H.: Der Übertragungswinkel und seine Bedeutung für das Konstruieren periodischer Getriebe. Werkstatttechnik 26, 61–64 (1932)
Ball, R.S.: A treatise on the theory of screws (1900)
Yuan, M.S.C., et al.: Kinematic analysis of spatial mechanism by means of screw coordinates. Part 2 – analysis of spatial mechanisms. J. Eng. Ind. 91(1), 67–73 (1971)
Sutherland, G., Roth, B.: A transmission index for spatial mechanisms. J. Eng. Ind. 95(2), 589–597 (1973)
Shimojima, H., et al.: A transmissibility for single-loop spatial mechanism. Bull. JSME 22(165), 405–411 (1997)
Tsai, M.J., Lee, H.W.: The transmissivity and manipulability of spatial mechanisms. J. Mech. Des. 116, 137–143 (1994)
Chen, C., Angeles, J.: Generalized transmission index and transmission quality for spatial linkages. Mech. Mach. T. 42, 1225–1237 (2007)
Takeda, Y., Funabashi, H.: Motion transmissibility of in-parallel actuated manipulators. JSME Int. J. Series C 38(4), 749–755 (1995)
Takeda, Y., Funabashi, H.: A transmission index for in-parallel wire-driven mechanisms. JSME Int. J. Series C 44(1), 180–187 (2001)
Takeda, Y., et al.: Development of a spherical in-parallel actuated mechanism with three DoF with large working space and high motion transmissibility. JSME Int. J. Series C 39(3), 541–548 (1996)
Briot, S., et al.: Investigation of the effort transmission in planar parallel manipulators. J. Mech. Robot. 7 (2013)
Wang, J., et al.: Performance evaluation of parallel manipulators: motion/force transmissibility and its index. Mech. Mach. T. 45, 1462–1476 (2010)
Liu, H.: Force/motion/stiffness transmissibility analyses of redundantly actuated and overconstrained parallel manipulators. In: Proceedings 14th World Congress in MMS, Taipei (2015)
Wu, C., et al.: Optimal design of spherical 5R parallel manipulators considering the motion/force transmissibility. J. Mech. Des. 132(3) (2010)
Liu, X.-J., et al.: A new approach for singularity analysis and closeness measurement to singularities of parallel manipulators. J. Mech. Robot. 4(4) (2012)
Wu, C., et al.: New measure for ‘Closeness’ to singularities of parallel robots. In: Proceedings of the ICRA, Shanghai (2011)
Liu, X.-J., et al.: Motion/force constrainability analysis of lower-mobility parallel manipulators. J. Mech. Robot. 6 (2014)
Chen, X., et al.: Screw theory based singularity analysis of lower-mobility parallel robots considering the motion/force transm. and constrainability. Math. Prob. Eng. 3 (2015)
Liu, H., et al.: A Generalized approach for computing the transmission index of parallel mechanisms. Mech. Mach. T. 74, 245–256 (2014)
Brinker, J., Corves, B.: A survey on parallel robots with delta-like architecture. In: Proceedings 14th World Congress in MMS, Taipei (2015)
Takeda, Y., et al.: Development of spatial in-parallel actuated manipulators with six degrees of freedom with high motion transm. JSME Int. J. Series C 40(2), 299–308 (1997)
Xie, F., Liu, X.-J.: Design and development of a high-speed and high-rotation robot with four identical arms and a single platform J. Mech. Robot. 7 (2015)
Wu, G., et al.: Multi-objective design optimization of a parallel Schönflies-motion robot. In: Advances in Reconfigurable Mechanisms and Robots II, pp. 657–667 (2016)
Zhang, L., et al.: Dimensional synthesis of the delta robot using transmission angle constraints. Robotica 30, 343–349 (2011)
Liu, S., et al.: Optimal design of a 4-DOF SCARA type parallel robot using dynamic performance indices and angular constraints. J. Mech. Robot. 4 (2012)
Takeda, Y., Funabashi, H.: Kinematic and static characteristics of in-parallel actuated manipulators at singular points and in their neighborhood. JSME Int J. Ser. C 39(1), 85–93 (1996)
Acknowledgments
This work is supported by the German Academic Exchange Service (DAAD) with funds from the Federal Foreign Office (FFO).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Brinker, J., Corves, B., Takeda, Y. (2018). On the Motion/Force Transmissibility and Constrainability of Delta Parallel Robots. In: Zeghloul, S., Romdhane, L., Laribi, M. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 50. Springer, Cham. https://doi.org/10.1007/978-3-319-60867-9_39
Download citation
DOI: https://doi.org/10.1007/978-3-319-60867-9_39
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-60866-2
Online ISBN: 978-3-319-60867-9
eBook Packages: EngineeringEngineering (R0)