Motion/Force Transmission Analysis of Parallel Mechanisms with Planar Closed-Loop Subchains

Singularities are one of the most important issues affecting the performance of parallel mechanisms. A parallel mechanism with less than six degrees of freedom (6DOF) is classed as having lower mobility. In addition to input-output singularities, such mechanisms potentially suffer from singularities among their constraints. Furthermore, the utilization of closed-loop subchains (CLSCs) may introduce additional singularities, which can strongly affect the motion/force transmission ability of the entire mechanism. In this paper, we propose a technique for the analysis of singularities occurring within planar CLSCs, along with a finite, dimensionless, frame invariant index, based on screw theory, for examining the closeness to these singularities. The integration of the proposed index with existing performance measures is discussed in detail and exemplified on a prototype industrial parallel mechanism.