2 resultados para Screw theory
em Deakin Research Online - Australia
Resumo:
The SCARA-Tau parallel manipulator was derived with the objective to overcome the limited workspace-to-footprint ratio of the DELTA parallel manipulator while maintaining its many benefits. The SCARA-Tau family has later been extended and a large number of variants have been proposed. In this paper, we analyse four of these variants, which together encompass the main differences between all the proposed SCARA-Tau manipulators. The analysed manipulator variants utilise an identical arrangement of five of the six linkages connecting the actuated arms and the manipulated platform and exhibit the same input-output Jacobian. The normalised reciprocal product between the wrench of the sixth linkage and the twist of the platform occurring without this linkage provides a measure on how effectively the sixth linkage constrains the manipulated platform. A comparison of the manipulator variants with respect to this measure demonstrates each variants suitability for specific applications.
Motion/Force transmission analysis of axis-symmetric parallel mechanisms with closed-loop sub-chains
Resumo:
This thesis presents several results regarding the kinematic performance analysis of axis-symmetric parallel mechanisms with closed-loop sub-chains. Screw theory based methods have been utilised to generate new indices, along with a formal procedure, enabling the systematic and complete singularity and motion/force transmission analysis of parallel mechanisms with these closed-loop sub-chains.