Optimal Design of Spherical 5R Parallel Manipulators Considering the Motion/Force Transmissibility-Reference-Cited by-同舟云学术

Optimal Design of Spherical 5R Parallel Manipulators Considering the Motion/Force Transmissibility

Published:2010-03-01 Issue:3 Volume:132 Page:
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Wu Chao¹,Liu Xin-Jun¹,Wang Liping¹,Wang Jinsong¹

Affiliation:

1. Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, People’s Republic of China

Abstract

The spherical 5R parallel manipulator is a typical parallel manipulator. It can be used as a pointing device or as a minimally invasive surgical robot. This study addresses the motion/force transmission analysis and optimization of the manipulator by taking into account the motion/force transmissibility. The kinematics of the manipulator is analyzed. Several transmission indices are defined by using screw theory for the performance evaluation and dimensional synthesis. The process of determining the optimal angular parameters based on performance charts is presented. The manipulator that has a large workspace and good motion/force transmissibility is identified.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/doi/10.1115/1.4001129/5808635/031002_1.pdf

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