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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/32099

Title: Force Transmissibility Performance of Parallel Manipulators
Authors: Wen-Tung Chang;Chen-Chou Lin;Jyh-Jone Lee
Contributors: NTOU:Department of Mechanical and Mechatronic Engineering
Date: 2003-11
Issue Date: 2012-06-15T07:21:24Z
Publisher: Journal of Robotic Systems
Abstract: Abstract:In this paper, a new force transmission index called the mean force transmission index (MFTI) is proposed, and the force transmissibility analysis procedure is established for parallel manipulators. The MFTI is an extended definition of the force transmission index (FTI) introduced by the authors previously. It is shown that the FTI is a function of the input velocity ratio (IVR) for a multi-DOF mechanism of the same configuration. To represent the force transmissibility by a definite value, the MFTI is defined as the mean value of the normalized FTIs function over the whole range of the IVR. The force transmissibility analysis of two planar parallel manipulators is illustrated using the MFTI method. The result is compared with that of the Jacobian matrix method and the joint force index (JFI) method. It shows that, especially for symmetric parallel manipulators, an approximate inverse-proportionality relationship exists between the JFI and MFTI, and between the maximum input torque/force and MFTI. It is concluded that the MFTI can be used as a quantitative measure of the force transmissibility performance for parallel manipulators. In the end, a design optimization problem is studied by taking the global force transmission index as the objective function.
Relation: 20(11), pp.659–670
URI: http://ntour.ntou.edu.tw/handle/987654321/32099
Appears in Collections:[機械與機電工程學系] 期刊論文

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