摘要
通过对3-CRC并联机构的位置分析验证了机构的完全解耦性.利用雅可比矩阵分析了机构的奇异性,导出了奇异位置的解析表达式,证明了机构仅存在边界奇异.最后,分别利用解析法和数值法对工作空间进行了求解,并结合奇异性的分析结果在工作空间中描述了机构运动的奇异面.
The complete decoupling of 3-CRC parallel mechanism was verified through the position analysis.The singularity of the mechanism was discussed by using Jacobian matrix.The analytical expression of singular position was derived and the existence of border singularity was proved.Finally,the workspace was solved by using analytical and numerical methods respectively,and the movement singular surface of the mechanism in the workspace was described combined with the results of the singularity analysis.
出处
《山东理工大学学报（自然科学版）》
CAS
2010年第1期46-49,共4页
Journal of Shandong University of Technology:Natural Science Edition
关键词
并联机构
位置正反解
解耦
奇异性
工作空间
parallel mechanism
positional forward and inverse solution
decoupling
singularity
workspace
