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《Journal of Mechanical Transmission》 2014-01
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Analysis on Movement and Force Transmission Property of 3-CU^Parallel Mechanism

Wang Yi;Chen Anjun;School of Mechanical Engineering,Jiangnan University;  
Based on the Jacobian matrix,the velocity and force directional manipulability of three-DOF translational 3-CU^parallel robot mechanism are defined to measure mechanical movement and force transmission property along different directions under the condition of given positions,and the condition numbers of Jacobian matrix are used to measure velocity and force transmissive isotropy.The result show that the velocity and force directional manipulability can measure the movement and force transmission property along different directions visually,and the best velocity and force transmissive direction can also be convenient determined.The best direction of velocity transmission property tend to be the worst direction of force transmission property,and velocity transmission property is better than force transmission property when moving platform moves along the vertical direction.The analysis of isotropy show that when mechanism moves along z-axis,isotropy is better than any other directions,the length of legs has influence on the change of isotropy,yet the circumradius of moving platform not.The research conclusion provide definite physical significance for motion planning of 3-CU^parallel mechanism.
【CateGory Index】: TP242
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