Transmission Angle Analysis of a Type of Parallel Manipulators
In most research works, the conditioning index is used to analyze the kinematic performance of a type of parallel manipulators whose traveling plate has only translation in the workspace, and each limb is made up of three joints and two moving links. However, it is difficult to determine the reasona...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-09-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/19/9468 |
| _version_ | 1797480854510895104 |
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| author | Honglei Che Congling Shi Yu Wang |
| author_facet | Honglei Che Congling Shi Yu Wang |
| author_sort | Honglei Che |
| collection | DOAJ |
| description | In most research works, the conditioning index is used to analyze the kinematic performance of a type of parallel manipulators whose traveling plate has only translation in the workspace, and each limb is made up of three joints and two moving links. However, it is difficult to determine the reasonable limit value of the conditioning index as the design criterion. Therefore, this paper defines two types of transmission angles to evaluate the kinematic performance of parallel manipulators, with which the direct and indirect singularities can be identified in a straightforward manner. Taking both the Diamond and Delta parallel manipulators as examples, the relationships are investigated between the angles and the condition number of the Jacobian, which is a vital performance index for parallel manipulators throughout the workspace. Then, simulation studies are conducted to prove the effectiveness of two kinds of transmission angles for the Diamond and Delta robots. It indicates that the defined angles are well characterized compared with the condition number of the Jacobian matrix in evaluating the kinematic performance of the parallel manipulators and determining the workspace. |
| first_indexed | 2024-03-09T22:06:10Z |
| format | Article |
| id | doaj.art-0c19a11690354b32a28838cafc645c43 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T22:06:10Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-0c19a11690354b32a28838cafc645c432023-11-23T19:40:02ZengMDPI AGApplied Sciences2076-34172022-09-011219946810.3390/app12199468Transmission Angle Analysis of a Type of Parallel ManipulatorsHonglei Che0Congling Shi1Yu Wang2China Academy of Safety Science and Technology, Beijing 100012, ChinaChina Academy of Safety Science and Technology, Beijing 100012, ChinaChina Academy of Safety Science and Technology, Beijing 100012, ChinaIn most research works, the conditioning index is used to analyze the kinematic performance of a type of parallel manipulators whose traveling plate has only translation in the workspace, and each limb is made up of three joints and two moving links. However, it is difficult to determine the reasonable limit value of the conditioning index as the design criterion. Therefore, this paper defines two types of transmission angles to evaluate the kinematic performance of parallel manipulators, with which the direct and indirect singularities can be identified in a straightforward manner. Taking both the Diamond and Delta parallel manipulators as examples, the relationships are investigated between the angles and the condition number of the Jacobian, which is a vital performance index for parallel manipulators throughout the workspace. Then, simulation studies are conducted to prove the effectiveness of two kinds of transmission angles for the Diamond and Delta robots. It indicates that the defined angles are well characterized compared with the condition number of the Jacobian matrix in evaluating the kinematic performance of the parallel manipulators and determining the workspace.https://www.mdpi.com/2076-3417/12/19/9468parallel manipulatortransmission anglesingular configuration |
| spellingShingle | Honglei Che Congling Shi Yu Wang Transmission Angle Analysis of a Type of Parallel Manipulators Applied Sciences parallel manipulator transmission angle singular configuration |
| title | Transmission Angle Analysis of a Type of Parallel Manipulators |
| title_full | Transmission Angle Analysis of a Type of Parallel Manipulators |
| title_fullStr | Transmission Angle Analysis of a Type of Parallel Manipulators |
| title_full_unstemmed | Transmission Angle Analysis of a Type of Parallel Manipulators |
| title_short | Transmission Angle Analysis of a Type of Parallel Manipulators |
| title_sort | transmission angle analysis of a type of parallel manipulators |
| topic | parallel manipulator transmission angle singular configuration |
| url | https://www.mdpi.com/2076-3417/12/19/9468 |
| work_keys_str_mv | AT hongleiche transmissionangleanalysisofatypeofparallelmanipulators AT conglingshi transmissionangleanalysisofatypeofparallelmanipulators AT yuwang transmissionangleanalysisofatypeofparallelmanipulators |