A novel index to evaluate the mapping of parallel mechanisms from internal to external wrenches

Chang Wang,Tieshi Zhao,Erwei Li,Yanzhi Zhao,Hui Bian,Baojun Zhu

Mechanism and Machine Theory（2021）

引用 2|浏览16

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摘要

•A novel index is built based on the whole wrench mapping matrix.•Constraint loads, driving loads, and rigid body loads are considered.•The physical interpretation of the index is explained and analyzed.

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关键词

Constraint loads of joints,Internal wrenches,External wrenches,Whole wrench mapping matrix,Parallel mechanisms

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