Abstract
In this paper, a spatial double-platform parallel manipulator with closed joints (compared to open cup-and-ball joints in the Delta robot) is proposed to generate the Schönflies motion. A description of its architecture is presented. The mobility analysis of the end-effector and the sub-platforms are carried out by resorting to the screw theory. To investigate the characteristics of motion/force transmissibility and constrainability of the double-platform manipulator, an equivalent transmission wrench analysis is presented by considering that the transmission wrench should be applied to the end-effector but not the sub-platforms from active arms. Then, the motion/force performance indices which consider the input transmissibility, output transmissibility, and constraint transmissibility are extended to evaluating the performance of the proposed double-platform parallel manipulator. As a result, the good transmission and constraint workspace is identified under the given parameters.
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Acknowledgements
This work was supported by the National Natural Science Foundation of China (Grant No. 52105026) and the China Postdoctoral Science Foundation (Grant No. 2021TQ0176), as well as the Shuimu Tsinghua Scholar Program (Grant No. 2020SM081).
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Meng, Q., Yuan, X., Zhuang, X., Xie, F., Liu, XJ. (2021). Motion/Force Transmissibility and Constrainability of a Double-Platform Parallel Manipulator. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13015. Springer, Cham. https://doi.org/10.1007/978-3-030-89134-3_43
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