Forward/inverse force transmission capability analyses of fully parallel manipulators

Abstract

Presents the analytical methods to evaluate the forward/inverse force transmission capabilities of fully parallel manipulators. Two eigenvalue problems corresponding to the forward and inverse force transmission analyses are formulated. In view of the forward force transmission analysis, the conditions of the maximum isotropic force and moment transmissions are investigated for both planar and spatial parallel manipulators. Finally, numerical examples of the forward and inverse force transmission analyses are presented and the numerical algorithm of selecting actuator forces in the whole reachable workspace is suggested.