Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Force Transmission Analyses with Dimensionally Homogeneous Jacobian Matrices for Parallel Manipulators

  • Kim, Sung-Gaun (Department of Mechatronics, Gwangju Institute of Science and Technology) ;
  • Jeha Ryu (Department of Mechatronics, Gwangju Institute of Science and Technology)
  • Published : 2004.05.01
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Abstract

To avoid the unit inconsistency problem in the conventional Jacobian matrix, new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points was presented (Kim and Ryu, 2003). This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived unit consistent Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.

Keywords

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