混合驱动五杆机构的奇异性和运动分析

Singularity and Kinematics Analysis of Hybrid Input Five-bar Mechanism

混合输入五杆机构是最简单的并联机器人,利用混合输入五杆机构的Jacobian矩阵,推导出两种类型的奇异性条件,即Jaeobian矩阵行列式为0和∞。通过建立数学模型进行角位移,角速度,角加速度的分析,最后利用VB进行运动仿真,验证了机构的存在性和数学模型的正确性。

Hybrid input five-bar mechanism is the simplest parallet robot. By using Jacobian matrix of hybrid input five-bar mechanism , this paper concluded two types conditions of sigularity.i.e. Jaeobian is zero, or . And analysis angular displacement,angular velocity, angular acceleration by establishing mathematic models, The correctness of the existence of mechanism and mathematical models was validated by using VB to do motion simulation.