{"title":"Enhancing distal motion-force interaction performance of parallel mechanisms through integration of closed-loop passive limb","authors":"Qizhi Meng , Yukio Takeda","doi":"10.1016/j.mechmachtheory.2025.106044","DOIUrl":null,"url":null,"abstract":"<div><div>Dimensional synthesis is widely recognized as a core approach for enhancing the performance of parallel mechanisms. However, is it possible to improve their performance further? This paper aims to provide a novel method to enhance the performance of a 5R parallel mechanism, which already possesses optimal dimensional parameters, by introducing a closed-loop passive limb. First, typical closed-loop limb-type parallel mechanisms and motion-force interaction performance are introduced as background. Then, the identification of wrenches and twists, and interaction indices for general planar two-degree-of-freedom parallel mechanisms are presented as the mathematical foundation for performance evaluation. Finally, building upon the 5R parallel mechanism with optimal dimensional parameters, its performance is further enhanced by introducing a closed-loop passive limb. The results show that the distal interaction performance of the redesigned kinematic chain is effectively improved through the integration of a closed-loop passive limb. This work provides a new and effective approach for enhancing the performance of parallel mechanisms.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106044"},"PeriodicalIF":4.5000,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanism and Machine Theory","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0094114X25001338","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"2025/4/24 0:00:00","PubModel":"Epub","JCR":"Q1","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0
Abstract
Dimensional synthesis is widely recognized as a core approach for enhancing the performance of parallel mechanisms. However, is it possible to improve their performance further? This paper aims to provide a novel method to enhance the performance of a 5R parallel mechanism, which already possesses optimal dimensional parameters, by introducing a closed-loop passive limb. First, typical closed-loop limb-type parallel mechanisms and motion-force interaction performance are introduced as background. Then, the identification of wrenches and twists, and interaction indices for general planar two-degree-of-freedom parallel mechanisms are presented as the mathematical foundation for performance evaluation. Finally, building upon the 5R parallel mechanism with optimal dimensional parameters, its performance is further enhanced by introducing a closed-loop passive limb. The results show that the distal interaction performance of the redesigned kinematic chain is effectively improved through the integration of a closed-loop passive limb. This work provides a new and effective approach for enhancing the performance of parallel mechanisms.
期刊介绍：
Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal.
The main topics are:
Design Theory and Methodology;
Haptics and Human-Machine-Interfaces;
Robotics, Mechatronics and Micro-Machines;
Mechanisms, Mechanical Transmissions and Machines;
Kinematics, Dynamics, and Control of Mechanical Systems;
Applications to Bioengineering and Molecular Chemistry
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