Transmission Angle Analysis in a Type of Manipulators
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.
How to cite this article
Wang Gang and Yun chao, 2013. Transmission Angle Analysis in a Type of Manipulators. Journal of Applied Sciences, 13: 4863-4868.
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