Indices to Evaluate the Performance of Force Transmission and Constraint for Parallel Mechanisms

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ZHANG, Tie ;CAO, Yachao ;MA, Guangcai .
Indices to Evaluate the Performance of Force Transmission and Constraint for Parallel Mechanisms. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 68, n.6, p. 411-423, april 2022. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/indices-to-evaluate-performance-of-force-transmission-and-constraint-for-parallel-mechanisms/>. Date accessed: 12 jun. 2024. 
doi:http://dx.doi.org/10.5545/sv-jme.2021.7378.
Zhang, T., Cao, Y., & Ma, G.
(2022).
Indices to Evaluate the Performance of Force Transmission and Constraint for Parallel Mechanisms.
Strojniški vestnik - Journal of Mechanical Engineering, 68(6), 411-423.
doi:http://dx.doi.org/10.5545/sv-jme.2021.7378
@article{sv-jmesv-jme.2021.7378,
	author = {Tie  Zhang and Yachao  Cao and Guangcai  Ma},
	title = {Indices to Evaluate the Performance of Force Transmission and Constraint for Parallel Mechanisms},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {68},
	number = {6},
	year = {2022},
	keywords = {force transmission manipulability; force constraint consistency; transmission wrench screw; constraint wrench screw; parallel mechanism; },
	abstract = {The force transmission and constraint ability significantly influence the performance of parallel mechanisms (PMs), such as force dexterity, overall rigidity and accuracy. The transmission wrench screw (TWS) transmits the force between the actuator and end-effector, and the constraint wrench screw (CWS) resists structural deformations. They significantly influence the manipulability to transmit force and the consistency to resist deformations. In this study, two new indices are proposed to evaluate their manipulability and consistency. The indices are notable for their unit homogeneity, frame independence, and measurement facility without interference. By taking three PMs with different mobility properties as examples, the effectiveness of the two indices for evaluating the manipulability to transmit force and the consistency to resist deformations is verified. Based on the indices, the configuration of a 3-CRU (C a cylindrical joint, R a revolute joint, and U a universal joint) PM with optimal force transmission and constraint ability is constructed.},
	issn = {0039-2480},	pages = {411-423},	doi = {10.5545/sv-jme.2021.7378},
	url = {https://www.sv-jme.eu/article/indices-to-evaluate-performance-of-force-transmission-and-constraint-for-parallel-mechanisms/}
}
Zhang, T.,Cao, Y.,Ma, G.
2022 April 68. Indices to Evaluate the Performance of Force Transmission and Constraint for Parallel Mechanisms. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 68:6
%A Zhang, Tie 
%A Cao, Yachao 
%A Ma, Guangcai 
%D 2022
%T Indices to Evaluate the Performance of Force Transmission and Constraint for Parallel Mechanisms
%B 2022
%9 force transmission manipulability; force constraint consistency; transmission wrench screw; constraint wrench screw; parallel mechanism; 
%! Indices to Evaluate the Performance of Force Transmission and Constraint for Parallel Mechanisms
%K force transmission manipulability; force constraint consistency; transmission wrench screw; constraint wrench screw; parallel mechanism; 
%X The force transmission and constraint ability significantly influence the performance of parallel mechanisms (PMs), such as force dexterity, overall rigidity and accuracy. The transmission wrench screw (TWS) transmits the force between the actuator and end-effector, and the constraint wrench screw (CWS) resists structural deformations. They significantly influence the manipulability to transmit force and the consistency to resist deformations. In this study, two new indices are proposed to evaluate their manipulability and consistency. The indices are notable for their unit homogeneity, frame independence, and measurement facility without interference. By taking three PMs with different mobility properties as examples, the effectiveness of the two indices for evaluating the manipulability to transmit force and the consistency to resist deformations is verified. Based on the indices, the configuration of a 3-CRU (C a cylindrical joint, R a revolute joint, and U a universal joint) PM with optimal force transmission and constraint ability is constructed.
%U https://www.sv-jme.eu/article/indices-to-evaluate-performance-of-force-transmission-and-constraint-for-parallel-mechanisms/
%0 Journal Article
%R 10.5545/sv-jme.2021.7378
%& 411
%P 13
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 68
%N 6
%@ 0039-2480
%8 2022-04-14
%7 2022-04-14
Zhang, Tie, Yachao  Cao, & Guangcai  Ma.
"Indices to Evaluate the Performance of Force Transmission and Constraint for Parallel Mechanisms." Strojniški vestnik - Journal of Mechanical Engineering [Online], 68.6 (2022): 411-423. Web.  12 Jun. 2024
TY  - JOUR
AU  - Zhang, Tie 
AU  - Cao, Yachao 
AU  - Ma, Guangcai 
PY  - 2022
TI  - Indices to Evaluate the Performance of Force Transmission and Constraint for Parallel Mechanisms
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2021.7378
KW  - force transmission manipulability; force constraint consistency; transmission wrench screw; constraint wrench screw; parallel mechanism; 
N2  - The force transmission and constraint ability significantly influence the performance of parallel mechanisms (PMs), such as force dexterity, overall rigidity and accuracy. The transmission wrench screw (TWS) transmits the force between the actuator and end-effector, and the constraint wrench screw (CWS) resists structural deformations. They significantly influence the manipulability to transmit force and the consistency to resist deformations. In this study, two new indices are proposed to evaluate their manipulability and consistency. The indices are notable for their unit homogeneity, frame independence, and measurement facility without interference. By taking three PMs with different mobility properties as examples, the effectiveness of the two indices for evaluating the manipulability to transmit force and the consistency to resist deformations is verified. Based on the indices, the configuration of a 3-CRU (C a cylindrical joint, R a revolute joint, and U a universal joint) PM with optimal force transmission and constraint ability is constructed.
UR  - https://www.sv-jme.eu/article/indices-to-evaluate-performance-of-force-transmission-and-constraint-for-parallel-mechanisms/
@article{{sv-jme}{sv-jme.2021.7378},
	author = {Zhang, T., Cao, Y., Ma, G.},
	title = {Indices to Evaluate the Performance of Force Transmission and Constraint for Parallel Mechanisms},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {68},
	number = {6},
	year = {2022},
	doi = {10.5545/sv-jme.2021.7378},
	url = {https://www.sv-jme.eu/article/indices-to-evaluate-performance-of-force-transmission-and-constraint-for-parallel-mechanisms/}
}
TY  - JOUR
AU  - Zhang, Tie 
AU  - Cao, Yachao 
AU  - Ma, Guangcai 
PY  - 2022/04/14
TI  - Indices to Evaluate the Performance of Force Transmission and Constraint for Parallel Mechanisms
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 68, No 6 (2022): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2021.7378
KW  - force transmission manipulability, force constraint consistency, transmission wrench screw, constraint wrench screw, parallel mechanism, 
N2  - The force transmission and constraint ability significantly influence the performance of parallel mechanisms (PMs), such as force dexterity, overall rigidity and accuracy. The transmission wrench screw (TWS) transmits the force between the actuator and end-effector, and the constraint wrench screw (CWS) resists structural deformations. They significantly influence the manipulability to transmit force and the consistency to resist deformations. In this study, two new indices are proposed to evaluate their manipulability and consistency. The indices are notable for their unit homogeneity, frame independence, and measurement facility without interference. By taking three PMs with different mobility properties as examples, the effectiveness of the two indices for evaluating the manipulability to transmit force and the consistency to resist deformations is verified. Based on the indices, the configuration of a 3-CRU (C a cylindrical joint, R a revolute joint, and U a universal joint) PM with optimal force transmission and constraint ability is constructed.
UR  - https://www.sv-jme.eu/article/indices-to-evaluate-performance-of-force-transmission-and-constraint-for-parallel-mechanisms/
Zhang, Tie, Cao, Yachao, AND Ma, Guangcai.
"Indices to Evaluate the Performance of Force Transmission and Constraint for Parallel Mechanisms" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 68 Number 6 (14 April 2022)

Authors

Affiliations

  • South China University of Technology, School of Mechanical and Automotive Engineering, China 1

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 68(2022)6, 411-423
© The Authors 2022. CC BY 4.0 Int.

https://doi.org/10.5545/sv-jme.2021.7378

The force transmission and constraint ability significantly influence the performance of parallel mechanisms (PMs), such as force dexterity, overall rigidity and accuracy. The transmission wrench screw (TWS) transmits the force between the actuator and end-effector, and the constraint wrench screw (CWS) resists structural deformations. They significantly influence the manipulability to transmit force and the consistency to resist deformations. In this study, two new indices are proposed to evaluate their manipulability and consistency. The indices are notable for their unit homogeneity, frame independence, and measurement facility without interference. By taking three PMs with different mobility properties as examples, the effectiveness of the two indices for evaluating the manipulability to transmit force and the consistency to resist deformations is verified. Based on the indices, the configuration of a 3-CRU (C a cylindrical joint, R a revolute joint, and U a universal joint) PM with optimal force transmission and constraint ability is constructed.

force transmission manipulability; force constraint consistency; transmission wrench screw; constraint wrench screw; parallel mechanism;