On the velocity analysis of interconnected chains mechanisms

Zoppi, Matteo; Zlatanov, Dimiter; Molfino, Rezia

doi:10.1016/j.mechmachtheory.2005.12.004

Cited by 46 publications

(29 citation statements)

References 7 publications

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“…Therefore the possible twists, ξ ξ ξ , at every configuration, are given by (8c) as any linear combination of the passive leg's two revolute-joint unit twists, ρ ρ ρ 3 1 and ρ ρ ρ 3 2 . When such a well-defined continuously-changing basis exists for the twist system of the platform, the velocity kinematics can be expressed with as few equations as the parallel mechanism's dof [12].…”

Section: Position Kinematicsmentioning

confidence: 99%

Kinematic Analysis of a Meso-Scale Parallel Robot for Laser Phonomicrosurgery

Lescano

Zlatanov

Rakotondrabe

et al. 2014

Interdisciplinary Applications of Kinematics

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Section: Position Kinematicsmentioning

confidence: 99%

Kinematic Analysis of a Meso-Scale Parallel Robot for Laser Phonomicrosurgery

Lescano

Zlatanov

Rakotondrabe

et al. 2014

Interdisciplinary Applications of Kinematics

Self Cite

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“…However, this process is tedious and may lead to possible errors. A much better methodology is the use of screw theory and the concept of reciprocal screws [14]. They provide a better geometrical insight into the problem and allow the precise and complete analysis of singularities of the mechanism [15,16].…”

Section: Screw Based Jacobian Matrixmentioning

confidence: 99%

Dimensional synthesis of a spherical parallel manipulator based on the evaluation of global performance indexes

Puglisi

Saltarén

Moreno

et al. 2012

Robotics and Autonomous Systems

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In this work, the dimensional synthesis of a spherical Parallel Manipulator (PM) with a 3PSU-IS kinematic chain is presented. The goal of the synthesis is to find a set of parameters that defines the PM with the best performance in terms of workspace capabilities, dexterity and isotropy. The PM is parametrized in terms of a reference element, and a non-directed search of these parameters is carried out. First, the inverse kinematics and instantaneous kinematics of the mechanism are presented. The latter is found using the screw theory formulation. An algorithm that explores a bounded set of parameters and determines the corresponding value of global indexes is presented. The concepts of a novel global performance index and a compound index are introduced. Simulation results are shown and discussed. The best PMs found in terms of each performance index evaluated are locally analyzed in terms of its workspace and local dexterity. The relationship between the performance of the PM and its parameters is discussed, and a prototype with the best performance in terms of the compound index is presented and analyzed.

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“…The last category is the transmission indices based on the screw theory [31,32]. Considering the virtual coefficient is dimensionless and independent of the coordinate system, the virtual coefficient between input and output wrench screws is defined as the transmission factor, and used to evaluate kinematic performance of the spatial mechanism [33].…”

Section: Introductionmentioning

confidence: 99%

Transmission Index Research of Parallel Manipulators Based on Matrix Orthogonal Degree

Shao

Tang

et al. 2017

Chin. J. Mech. Eng.

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Performance index is the standard of performance evaluation, and is the foundation of both performance analysis and optimal design for the parallel manipulator. Seeking the suitable kinematic indices is always an important and challenging issue for the parallel manipulator. So far, there are extensive studies in this field, but few existing indices can meet all the requirements, such as simple, intuitive, and universal. To solve this problem, the matrix orthogonal degree is adopted, and generalized transmission indices that can evaluate motion/force transmissibility of fully parallel manipulators are proposed. Transmission performance analysis of typical branches, end effectors, and parallel manipulators is given to illustrate proposed indices and analysis methodology. Simulation and analysis results reveal that proposed transmission indices possess significant advantages, such as normalized finite (ranging from 0 to 1), dimensionally homogeneous, frame-free, intuitive and easy to calculate. Besides, proposed indices well indicate the good transmission region and relativity to the singularity with better resolution than the traditional local conditioning index, and provide a novel tool for kinematic analysis and optimal design of fully parallel manipulators.

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On the velocity analysis of interconnected chains mechanisms

Cited by 46 publications

References 7 publications

Kinematic Analysis of a Meso-Scale Parallel Robot for Laser Phonomicrosurgery

Kinematic Analysis of a Meso-Scale Parallel Robot for Laser Phonomicrosurgery

Dimensional synthesis of a spherical parallel manipulator based on the evaluation of global performance indexes

Transmission Index Research of Parallel Manipulators Based on Matrix Orthogonal Degree

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