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Motion/force transmission analysis of planar parallel mechanisms with closed-loop subchains

Marlow, Kristan, Isaksson, Mats and Nahavandi, Saeid 2016, Motion/force transmission analysis of planar parallel mechanisms with closed-loop subchains, Journal of mechanisms and robotics, vol. 8, no. 4, pp. 041019-1-041019-11, doi: 10.1115/1.4033158.

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Title Motion/force transmission analysis of planar parallel mechanisms with closed-loop subchains
Author(s) Marlow, Kristan
Isaksson, Mats
Nahavandi, Saeid
Journal name Journal of mechanisms and robotics
Volume number 8
Issue number 4
Start page 041019-1
End page 041019-11
Total pages 11
Publisher American Society of Mechanical Engineers
Place of publication New York, N.Y.
Publication date 2016-08
ISSN 1942-4302
1942-4310
Keyword(s) Screws
Chain
Parallel mechanisms
Kinematics
Yaw
Science & Technology
Technology
Engineering, Mechanical
Robotics
Engineering
SINGULARITY ANALYSIS
MANIPULATORS
FREEDOM
Summary Singularities are one of the most important issues affecting the performance of parallel mechanisms. Therefore, analysis of their locations and closeness is essential for the development of a high-performance mechanism. The screw theory based motion/force transmission analysis provides such a closeness measure in terms of the work performed between specific mechanism twists and wrenches. As such, this technique has been applied to many serial chain parallel mechanisms. However, the motion/force transmission performance of parallel mechanisms with mixed topology chains is yet to be examined. These chains include linkages in both series and parallel, where the parallel portion is termed a closed-loop subchain (CLSC). This paper provides an analysis of such chains, where the CLSC is a planar four-bar linkage. In order to completely define the motion/force transmission abilities of these mechanisms, adapted wrench definitions are introduced. The proposed methodology is applied to a family of two degrees-offreedom planar axis-symmetric parallel mechanisms, each with a different CLSC configuration. The presented analysis provides the first complete motion/force transmission analysis of such mechanisms.
Language eng
DOI 10.1115/1.4033158
Field of Research 099999 Engineering not elsewhere classified
Socio Economic Objective 0 Not Applicable
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2016, ASME
Persistent URL http://hdl.handle.net/10536/DRO/DU:30087789

Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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