2010
DOI: 10.1115/1.4001129
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Optimal Design of Spherical 5R Parallel Manipulators Considering the Motion/Force Transmissibility

Abstract: The spherical 5R parallel manipulator is a typical parallel manipulator. It can be used as a pointing device or as a minimally invasive surgical robot. This study addresses the motion/force transmission analysis and optimization of the manipulator by taking into account the motion/force transmissibility. The kinematics of the manipulator is analyzed. Several transmission indices are defined by using screw theory for the performance evaluation and dimensional synthesis. The process of determining the optimal an… Show more

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Cited by 96 publications
(34 citation statements)
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“…However, the LTI, GTI and FTI are defined based on the general properties of the transmission angles, thus they can also be used in the optimization of other PMs. Although the LTI and GTI based on GTW are proposed and used by other researchers [7], the LTI and GTI proposed in this paper considering the CGTW bring more comprehensive meanings. Furthermore, the FTI proposed in this study has never been used before that reveals more deep transmissibility of a PM.…”
Section: Summery Of the Performance Indicesmentioning
confidence: 97%
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“…However, the LTI, GTI and FTI are defined based on the general properties of the transmission angles, thus they can also be used in the optimization of other PMs. Although the LTI and GTI based on GTW are proposed and used by other researchers [7], the LTI and GTI proposed in this paper considering the CGTW bring more comprehensive meanings. Furthermore, the FTI proposed in this study has never been used before that reveals more deep transmissibility of a PM.…”
Section: Summery Of the Performance Indicesmentioning
confidence: 97%
“…PMs have been intensively studied since the 1980s and still attract much attention up to the present [2][3][4][5][6]. For PMs one of the most important and challenging problems is kinematic optimization in which two issues are concerned: performance evaluation and dimensional synthesis [7,8].…”
Section: Introductionmentioning
confidence: 99%
“…A number of performance indices, such as workspace, dexterity indices, condition number, transmission angle, motion/force transmission indices, et al, have been proposed and applied to the performance evaluation of parallel manipulators [19,[21][22][23][24][25]. As we know, the traditional transmission/pressure angle, which was originally introduced for evaluating the force transmission quality of single-loop linkages, is generally no longer applicable to evaluate the motion/force transmissibility of spatial parallel mechanisms, but for the parallel mechanism proposed in this paper, the two identical RPU limbs are in the same plane and axes of the two revolute joints are parallel to each other, and the axis of revolute joint of the SPR limb is parallel to u axis.…”
Section: Transmission Performance Analysismentioning
confidence: 99%
“…Here, the first mode [the down-up mode, which is depicted in Fig. 4(a)] was selected and used for design because of its large workspace [26][27].…”
Section: Design Of Mechanismmentioning
confidence: 99%
“…From the kinematic analysis of SPM [26], the input angle  for the right leg of SPM can be obtained as…”
Section: ) Inverse Position Analysis Of Spm For the Obtained Value Omentioning
confidence: 99%