Motion Transmissibility of In-Parallel Wire-Driven Mechanisms

摘要

This paper proposes an evaluation index of motion transmissibility of N degree-of-freedom (dof) in-parallel wire-driven mechanisms with N+ 1 wires. Utilizing the relationship between input force and output force of N do f in-parallel actuated mechanism with only rigid links, a transmission index for in-parallel wire-driven mechanism has been defined. The effectiveness of the index has been confirmed through the comparison of the index with the magnitude of tension force caused by external forces. A six do f spatial mechanism with high motion transmissibility has been obtained.