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Journal of Applied Sciences
Year: 2013  |  Volume: 13  |  Issue: 21  |  Page No.: 4863 - 4868

Transmission Angle Analysis in a Type of Manipulators

Wang Gang and Yun chao    

Abstract: This study presents a novel common approach to analysis the transmission angle of a type of manipulators. Here, two types of transmission angles are defined to evaluate the kinematic performance of parallel manipulators, with which the direct and indirect singularities can be identified in a straightforward manner. The relationships between the angles and condition number of Jacobian which is a vital performance index for parallel manipulators are investigated throughout the workspace by taking both the Diamond and Delta parallel manipulators as an example. A simple method for determining the workspace bounded by the angle constraints is proposed which make less time be cost in the optimization or any other design procedure. Considering the effects of transmission angles, a global and comprehensive index is presented. The kinematic optimization of Diamond manipulator has been taken as an example to illustrate the effectiveness of this approach.

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