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

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

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.

• Jezik: Angleški jezik
• Ključne besede: force transmission, force constraint consistency, screws, parallel mechanisms
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FS - Fakulteta za strojništvo
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Datum objave: 13.04.2022
• Leto izida: 2022
• Št. strani: 13 str.
• Številčenje: Vol. 68, no. 6
• PID: 20.500.12556/RUL-138117
• UDK: 621.88
• ISSN pri članku: 0039-2480
• DOI: 10.5545/sv-jme.2021.7378
• COBISS.SI-ID: 114897923
• Datum objave v RUL: 11.07.2022

Gradivo je del revije

• Naslov: Strojniški vestnik
• Skrajšan naslov: Stroj. vestn.
• Založnik: Zveza strojnih inženirjev in tehnikov Slovenije [etc.], = Association of Mechanical Engineers and Technicians of Slovenia [etc.
• ISSN: 0039-2480
• COBISS.SI-ID: 762116

Licence

• Licenca: CC BY-NC 4.0, Creative Commons Priznanje avtorstva-Nekomercialno 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by-nc/4.0/deed.sl
• Opis: Licenca Creative Commons, ki prepoveduje komercialno uporabo, vendar uporabniki ne rabijo upravljati materialnih avtorskih pravic na izpeljanih delih z enako licenco.
• Začetek licenciranja: 13.04.2022

Sekundarni jezik

• Jezik: Slovenski jezik
• Naslov: Indeksi za vrednotenje zmogljivosti prenosa sile in omejitev pri paralelnih mehanizmih
• Ključne besede: prenos sile, omejevanje sil, vijaki, paralelni mehanizmi