Transmission angle in mechanisms (Triangle in mech)

Balli, Shrinivas S.; Chand, Satish

doi:10.1016/s0094-114x(01)00067-2

Cited by 121 publications

(60 citation statements)

References 55 publications

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“…Therefore, the transmission angle is an index evaluating the quality of motion/force transmission. It helps to decide the "best" among a family of possible mechanisms for the most effective force transmission [8] . Actually, a good transmission angle is the solution to most of the problems in planar mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Optimal design of a new spatial 3-DOF parallel robot with respect to a frame-free index

Wang

Liu

2009

Sci. China Ser. E-Technol. Sci.

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Optimal design is one of the most important issues in robots. Since the very beginning, the concepts of the Jacobian matrix, manipulability and condition number, which are used successfully in the field of serial robots, have been applied to parallel robots. Unlike serial robots, parallel robots are good for motion/force transmission. Their performance evaluation and design should be correspondingly different. This paper is an attempt to optimally design a novel spatial three-degree-of-freedom (3-DOF) parallel robot by using the concept of motion/force transmission. Accordingly, three indices are defined. The suggested indices are independent of any coordinate frame and could be applied to the analysis and design of a parallel robot whose singularities can be identified wholly by using the relative angle between the output and adjacent links, and by using the relative angle between the input and adjacent links.optimal design, parallel robots, index, transmission angle, motion/force transmission

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Section: Introductionmentioning

confidence: 99%

Optimal design of a new spatial 3-DOF parallel robot with respect to a frame-free index

Wang

Liu

2009

Sci. China Ser. E-Technol. Sci.

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“…The classic transmission angle [19], which has been used in the four-bar mechanism to evaluate its force transmission performance, provides an available and possible solution for this question. The four-bar mechanism is a single-closed-loop structure, and a parallel robot is a multi-closed-loop structure.…”

Section: Are the Existing Performance Measures Suitable Or Is There Amentioning

confidence: 99%

Performance Indices for Parallel Robots Considering Motion/Force Transmissibility

Xie

Liu

2014

Intelligent Robotics and Applications

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Abstract. This paper focuses on the performance evaluation of parallel robots. The existing evaluation methods have been deeply investigated, and we come to the conclusion that some of the existing performance measures are not suitable and there is a need to introduce new ones. Considering the specialties of parallel robots, we think that the performance with respect to motion/force transmission should be evaluated. Consequently, some indices have been defined based on the reciprocal product of screw theory, and suggested as the evaluation criteria for the optimal design of parallel robots. These indices are frame-free and their values fall into a finite range [0 1]. To illustrate their merits and applications, some cases have also been provided.

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“…For best results, designers recognize that the transmission angle should be as close to 908 as possible during the entire rotation of the crank [10,11]. If we want to ensure that the extreme values of the transmission angle have the same deviation from the value m ¼ 908, a practical additional limitation to employ in the design is [11]:…”

Section: Application Of Grashof Criterion and Optimum Transmission Anglementioning

confidence: 99%

“…If we want to ensure that the extreme values of the transmission angle have the same deviation from the value m ¼ 908, a practical additional limitation to employ in the design is [11]:…”

Section: Application Of Grashof Criterion and Optimum Transmission Anglementioning

confidence: 99%

A methodology to learn designing optimal mechanisms for path generation

Galán-Marín

Alonso-Sánchez

Castillo

2009

Comp Applic In Engineering

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ABSTRACT:The study of four-bar linkages to trace a desired path is an important part of teaching in mechanical design. When the number of precision points exceeds a certain number, most recent approaches utilize intelligent optimization methods based on too complex computer science theories to be implemented by an engineering student. In this article we develop and implement new mechanism design results, reducing simultaneously the design space to facilitate finding the optimal mechanism. Finally, we apply global optimization methods that do not require analytical expression of the objective function and are freely available for educational use with Matlab. The proposed computerized methodology focuses student motivation on the mechanical aspects of the problem. Design examples presented illustrate the effectiveness of the approach that provides a solution quality comparable to that of the recently proposed intelligent optimization methods with simplicity of implementation and fast convergence.ß

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Transmission angle in mechanisms (Triangle in mech)

Cited by 121 publications

References 55 publications

Optimal design of a new spatial 3-DOF parallel robot with respect to a frame-free index

Optimal design of a new spatial 3-DOF parallel robot with respect to a frame-free index

Performance Indices for Parallel Robots Considering Motion/Force Transmissibility

A methodology to learn designing optimal mechanisms for path generation

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