20.500.12556/RUL-138117 Indices to evaluate the performance of force transmission and constraint for parallel mechanisms Indeksi za vrednotenje zmogljivosti prenosa sile in omejitev pri paralelnih mehanizmih The force transmission and constraint ability significantly influence the performance of parallel mechanisms (PMs), such as force dexterity, overall rigidity and accuracy. The transmission wrench screw (TWS) transmits the force between the actuator and end-effector, and the constraint wrench screw (CWS) resists structural deformations. They significantly influence the manipulability to transmit force and the consistency to resist deformations. In this study, two new indices are proposed to evaluate their manipulability and consistency. The indices are notable for their unit homogeneity, frame independence, and measurement facility without interference. By taking three PMs with different mobility properties as examples, the effectiveness of the two indices for evaluating the manipulability to transmit force and the consistency to resist deformations is verified. Based on the indices, the configuration of a 3-CRU (C a cylindrical joint, R a revolute joint, and U a universal joint) PM with optimal force transmission and constraint ability is constructed. force transmission force constraint consistency screws parallel mechanisms prenos sile omejevanje sil vijaki paralelni mehanizmi true false true Angleški jezik Slovenski jezik Članek v reviji 2022-07-11 11:41:10 2022-07-11 11:41:14 2022-09-15 04:16:19 0000-00-00 00:00:00 2022 0 0 13 str. no. 6 Vol. 68 2022 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 2022-04-13 621.88 0039-2480 10.5545/sv-jme.2021.7378 114897923 Zhang,_Cao,_Ma_-_Indices_to_Evaluate_the_Performance_of_Force_....pdf Zhang,_Cao,_Ma_-_Indices_to_Evaluate_the_Performance_of_Force_....pdf 1 8710A80398FB1B9F19B4E9C8BE94C4CD 8f879ba76df9d9169ffc05f1af8b53e6cfed6397341c66096b508573aa9bcd99 9bac662d-00fd-11ed-8aca-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=158331 https://www.sv-jme.eu/sl/article/indices-to-evaluate-performance-of-force-transmission-and-constraint-for-parallel-mechanisms/ 1 62414c13-00fd-11ed-8aca-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=158330 Fakulteta za strojništvo Strojniški vestnik 0 0 0