Isotropy of Tangential Motion Transmissibility and Kinematic Performance Analysis of TriMule and Exechon Robots

doi:10.3901/JME.2021.15.023

Abstract

Abstract: For comparing and analyzing the kinematic performance of TriMule and Exechon robots, the dimensionally homogeneous Jacobian matrices of the parallel mechanisms within two robots are derived using the screw theory. With the aid of the Jacobian matrix, the tangential and normal motion transmissibilities as well as a set of local and global indices suitable for evaluating the kinematic performance of this kind of mechanism are proposed. By defining a reference configuration, isotropic conditions of tangential motion transmissibility of two mechanisms are analytically derived. Then, the variations of tangential and normal motion transmissibilities versus a key angle, and the relationships between local and global motion transmissibilities of two mechanisms are intensively investigated. The results show that the kinematic performance of two mechanisms is competitive; moreover, the local and global motion transmissibilities of either mechanism are linearly related.

Key words: parallel mechanism, kinematic performance, isotropy

CLC Number:

TG156

DONG Chenglin, LI Jintao, LIU Haitao, HUANG Tian. Isotropy of Tangential Motion Transmissibility and Kinematic Performance Analysis of TriMule and Exechon Robots[J]. Journal of Mechanical Engineering, 2021, 57(15): 23-32.

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