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3-PCR并联机构的奇异性分析 被引量：4

Singularity analysis of 3-PCR parallel mechanism
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摘要 针对3-PCR新型空间三自由度并联机构进行分析.运用坐标变换法求得机构的位置方程,通过对位置方程的求导得到速度方程,进而推得机构的逆、正雅克比矩阵;以雅克比矩阵为基础分析该机构发生奇异的条件及奇异的类型.奇异性分析为研究该机构的工作空间及轨迹规划奠定了基础. A new kind of 3-DOF parallel mechanism 3-PCR was analyzed.Position equation of the mechanism was gotten by means of coordinate transformation.The velocity equation of the mechanism was gotten according to the derivation of the position equation,and then the inverse Jacobian matrix and the forward Jacobian matrix of the mechanism were gotten accordingly.Based on the Jacobian matrix,the singularity conditions and the singularity types of the mechanism were analyzed.Singularity analysis will lay the foundation...
作者 徐宗刚 郝秀清 董敏 蔡开云 王克杰
机构地区 山东理工大学机械工程学院 龙矿集团技工学校
出处 《山东理工大学学报（自然科学版）》 CAS 2009年第1期17-20,共4页 Journal of Shandong University of Technology:Natural Science Edition
基金 山东省自然科学基金资助项目(Y2006G17Y2006F59)
关键词 并联机构 工作空间 奇异位形 parallel mechanism workspace singular configuration
分类号 TH112 [机械工程—机械设计及理论]
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二级引证文献4

山东理工大学学报（自然科学版）
2009年 第1期

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