摘要
提出一种8-PSS型冗余输入并联机构,建立了相应的静力学平衡方程,得出了其力雅可比矩阵;用矢量运算方法建立了其速度雅可比矩阵,验证了PSS型冗余输入并联机构的力雅可比矩阵与速度雅可比矩阵的转置关系,并且与冗余输入的数目无关,通过实例表明了上述结论的正确性。
An 8 - PSS redundant input parallel mechanism is presented in this paper, with the statics balance equations and force Jacobian matrix being founded. By the method of vector operation, the velocity Jacobian matrix is also deduced. It is verified that transpose of the force Jacobian matrix is just the velocity Jacobian matrix, which is independent of the number of redundant inputs. Finally, the validity of the conclusion is proved by an example.
出处
《机械设计与研究》
CSCD
北大核心
2006年第1期20-23,共4页
Machine Design And Research
基金
国家杰出青年基金资助项目(50125516)
振动
冲击
噪声国家重点实验室资助项目(VSN-2005-07)
关键词
冗余输入
力雅可比
速度雅可比
redundant input
force Jaeobian
velocity Jacobian
