Indices to evaluate the performance of force transmission and constraint for parallel mechanisms

Zhang, Tie (author), Cao, Yachao (author), Ma, Guangcai (author)

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.

• Language: English
• 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: Published
• Publication version: Version of Record
• Publication date: 13.04.2022
• Year: 2022
• Number of pages: 13 str.
• Numbering: Vol. 68, no. 6
• PID: 20.500.12556/RUL-138117
• UDC: 621.88
• ISSN on article: 0039-2480
• DOI: 10.5545/sv-jme.2021.7378
• COBISS.SI-ID: 114897923
• Publication date in RUL: 11.07.2022

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.
• ISSN: 0039-2480
• COBISS.SI-ID: 762116

Licences

• License: CC BY-NC 4.0, Creative Commons Attribution-NonCommercial 4.0 International
• Link: http://creativecommons.org/licenses/by-nc/4.0/
• 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

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