Generalized evaluation for the transmission performance of mechanisms

Abstract In this paper the concept of generalized transmission wrench screw (GTWS) that characterizes the transmission properties of mechanisms is introduced. Based on this concept, measurements of the transmissivity and the manipulability are defined. Both of them have the expressions similar to the manipulability index, which is a quantitative measure of the closeness of a robot configuration to singularity. The variable lead screw transmission mechanism provides an example for illustrating evaluation of transmission performance.

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