| contributor author | Chao Wu | |
| contributor author | Xin-Jun Liu | |
| contributor author | Liping Wang | |
| contributor author | Jinsong Wang | |
| date accessioned | 2017-05-09T00:39:41Z | |
| date available | 2017-05-09T00:39:41Z | |
| date copyright | March, 2010 | |
| date issued | 2010 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27920#031002_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/144248 | |
| description abstract | The spherical 5R parallel manipulator is a typical parallel manipulator. It can be used as a pointing device or as a minimally invasive surgical robot. This study addresses the motion/force transmission analysis and optimization of the manipulator by taking into account the motion/force transmissibility. The kinematics of the manipulator is analyzed. Several transmission indices are defined by using screw theory for the performance evaluation and dimensional synthesis. The process of determining the optimal angular parameters based on performance charts is presented. The manipulator that has a large workspace and good motion/force transmissibility is identified. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Optimal Design of Spherical 5R Parallel Manipulators Considering the Motion/Force Transmissibility | |
| type | Journal Paper | |
| journal volume | 132 | |
| journal issue | 3 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.4001129 | |
| journal fristpage | 31002 | |
| identifier eissn | 1528-9001 | |
| tree | Journal of Mechanical Design:;2010:;volume( 132 ):;issue: 003 | |
| contenttype | Fulltext | |
