摘要
并联机构雅可比矩阵的计算方法已有多种,但这些方法的计算精度却不尽相同,首先对两种简单易懂的求解方法进行了推导说明,它们分别利用一阶影响系数矩阵的广义逆矩阵和被动副速度关于主动副速度的表达式进行求解。其次,以平面五杆并联机构为例进行了计算求解和验证分析,结果表明后者的计算精度较高,最后,提出了一种利用以求逆矩阵替代广义逆矩阵的方法,有效地提高了前一种雅可比矩阵求解方法的计算精度。
It is complicated to calculate Jacobian matrixes of parallel mechanisms. Many methods have been invented, but their precisions in calculation are not same. This paper gives derivations of two simple methods to calculate Jacobian matrixes of parallel mechanisms firstly： one is based on generalized inverse matrix of influenced coefficient matrix and the other is based on the velocity expressions between active joints and passive joints. Then their precisions in calculation are analyzed with an example of planar five - link parallel mechanism. The result shows that the latter is better. Finally, an effective method adopting inverse matrix to improve precisions in calculation of the former is given.
出处
《机械设计与研究》
CSCD
北大核心
2007年第6期23-26,共4页
Machine Design And Research
基金
国家自然科学基金资助项目(50605036)
关键词
机构学
雅可比矩阵
计算精度
并联机构
影响系数矩阵
mechanisms
Jacobian matrix
precision
parallel mechanism
influenced coefficient matrix
