LAUSR

This paper presents a uniform evaluation method for both transmission quality and singularity analysis for a class of parallel Schonflies-motion generators with four RRΠRR limbs. It turns out that the determinant of the forward Jacobian matrices for this class of parallel robots can be expressed as the scalar product of two vectors, the first vector being the cross product of the four unit vectors along the parallelograms, and the second one being related to the rotation of the mobile platform. The pressure angles, derived from the determinants of forward and inverse Jacobians, respectively, are used for the evaluation of the transmission quality and the detection of robot singularities. Five robots are compared based on the proposed indices as an illustrative example.