摘要
针对一种3PSS-S球面并联机构,建立了该并联机构的位置反解数学模型,推导了并联机构速度方程和雅可比矩阵的解析表达式。基于机构的雅可比矩阵,应用等高线方法绘制了并联机构的奇异轨迹曲线,并讨论了固定平台结构参数对并联机构奇异轨迹的影响。
The inverse position equations are formed,and the velocity equation containing the actuator and the end effector velocities,and the analytical express of Jacobin matrices are derived for the 3PSS-S spherical parallel manipulators.Based on those Jacobin matrices,the contours method was adopted for analyzing the singularity loci of 3PSS-S spherical parallel manipulators.The influence of structure parameters of static platform on singularity loci of parallel manipulator is studied.
出处
《机械传动》
CSCD
北大核心
2007年第4期9-11,14,共4页
Journal of Mechanical Transmission
关键词
球面并联机构
雅可比矩阵
奇异轨迹
Spherical parallel manipulators Jacobin matrices Singularity loci
