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. Attached Files Name Description MIMEType Size Downloads 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 Related Links Link Description Connect to published version Go to link with your DU access privileges   Connect to Elements publication management system Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Versions Version Filter Type Thu, 20 Oct 2016, 11:17:27 EST Thu, 27 Oct 2016, 08:21:00 EST Wed, 05 Apr 2017, 13:34:47 EST Thu, 06 Apr 2017, 06:04:19 EST Mon, 05 Jun 2017, 16:08:59 EST Mon, 05 Jun 2017, 16:11:46 EST Thu, 15 Jun 2017, 08:14:29 EST Filtered Full Citation counts:   Cited 0 times in TR Web of Science Cited 2 times in Scopus Search Google Scholar Access Statistics: 4 Abstract Views, 2 File Downloads  -  Detailed Statistics Created: Wed, 05 Apr 2017, 13:34:47 EST

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