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A Generalized Transmission Index for Spatial Linkages

[+] Author Affiliations
Chao Chen, Jorge Angeles

McGill University, Montreal, QC, Canada

Paper No. DETC2005-84291, pp. 749-756; 8 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


This paper proposes a generalized transmission index for spatial mechanisms, based on the transmission index introduced by Sutherland and Roth. This index is more general and welldefined in all the cases; it matches the virtual coefficient between the transmission wrench screw and the output twist screw exactly. A method is developed to compute the transmission wrench screw in spatial single-loop linkages. We illustrate the application of this index in a RSCR linkage.

Copyright © 2005 by ASME
Topics: Linkages



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