Indices to evaluate the performance of force transmission and constraint for parallel mechanisms
ID Zhang, Tie (Author), ID Cao, Yachao (Author), ID Ma, Guangcai (Author)

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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.

Keywords:force transmission, force constraint consistency, screws, parallel mechanisms
Work type:Article
Typology:1.01 - Original Scientific Article
Organization:FS - Faculty of Mechanical Engineering
Publication status in journal:Published
Article version:Publisher's version of article
Publication date:13.04.2022
Number of pages:13 str.
Numbering:Vol. 68, no. 6
PID:20.500.12556/RUL-138117 This link opens in a new window
ISSN on article:0039-2480
DOI:10.5545/sv-jme.2021.7378 This link opens in a new window
COBISS.SI-ID:114897923 This link opens in a new window
Publication date in RUL:11.07.2022
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Record is a part of a journal

Title:Strojniški vestnik
Shortened title:Stroj. vestn.
Publisher:Zveza strojnih inženirjev in tehnikov Slovenije [etc.], = Association of Mechanical Engineers and Technicians of Slovenia [etc.]
COBISS.SI-ID:762116 This link opens in a new window


License:CC BY-NC 4.0, Creative Commons Attribution-NonCommercial 4.0 International
Description:A creative commons license that bans commercial use, but the users don’t have to license their derivative works on the same terms.
Licensing start date:13.04.2022

Secondary language

Title:Indeksi za vrednotenje zmogljivosti prenosa sile in omejitev pri paralelnih mehanizmih
Keywords:prenos sile, omejevanje sil, vijaki, paralelni mehanizmi

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