Performance Evaluation of Redundant Parallel Manipulators Assimilating Motion/Force Transmissibility
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In this article, the performance evaluation of redundant parallel kinematic manipulators is investigated, and indices that assimilate motion/force transmissibility are proposed to evaluate the performance of redundant PKMs.Abstract:
Performance evaluation is one of the most important issues in the field of parallel kinematic manipulators (PKMs). As a very important class of PKMs, the redundant PKMs have been studied intensively. However, the performance evaluation of this type of PKMs is still unresolved and a challenging endeavor. In this paper, indices that assimilate motion/force transmissibility are proposed to evaluate the performance of redundant PKMs. To illustrate the application of these indices, three PKMs with different kinds of redundancies are taken as examples, and performance atlases are plotted based on the definitions of the indices. Transmissibility comparisons between redundant PKMs and the corresponding non-redundant ones are carried out. To determine the inverse solutions of the PKMs with kinematic redundancy, an optimization strategy is presented, and the rationality of this method is demonstrated. The indices introduced here can be applied to the performance evaluation of redundant parallel manipulators.read more
Citations
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A Comparison Study on Motion/Force Transmissibility of Two Typical 3-DOF Parallel Manipulators: The Sprint Z3 and A3 Tool Heads
TL;DR: To a certain extent, the A3 head outperforms the common Sprint Z3 head, providing a new and satisfactory option for a machine tool head in industry.
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Redundancy in Parallel Mechanisms: A Review
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Kinematic performance evaluation of high-speed Delta parallel robots based on motion/force transmission indices
TL;DR: Different formulations for the transmissibility and constrainability of parallel manipulators based on the notion of power coefficients and pressure angles are revisited and applied to the performance evaluation of a non-overconstraint Delta robot.
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Dynamic modeling and redundant force optimization of a 2-DOF parallel kinematic machine with kinematic redundancy
Yao Jiang,Tiemin Li,Liping Wang +2 more
TL;DR: The proposed kinematically redundant machine possesses the highest position precision during the motion process and is applied to develop a precision planar mobile platform as an application example.
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Multi-objective optimization of a parallel ankle rehabilitation robot using modified differential evolution algorithm
TL;DR: The computation results show that the proposed indices of output transmission and torque, and constraint handling are effective for the redundant parallel robot; the modified DE algorithm is superior to the other tested algorithms, in terms of the ability of global search and the number of non-dominated solutions.
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Performance evaluation of parallel manipulators: Motion/force transmissibility and its index
Jinsong Wang,Chao Wu,Xin-Jun Liu +2 more
TL;DR: In this paper, a generalized transmission index that can evaluate the motion/force transmissibility of fully parallel manipulators is proposed based on the virtual coefficient and is relative to singularity.
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