摘要
运用反螺旋理论对ROBO_003三自由度并联机器人的雅可比矩阵进行了研究。采用简单的方法找到支链关节螺旋的反螺旋,从而得到了约束雅可比矩阵、驱动雅可比矩阵和完全雅可比矩阵,导出动平台的运动速度到驱动关节速度之间的映射。该方法亦可用于其他三自由度并联机器人的雅可比矩阵研究。
The reciprocal screw theory is applied to the study of the Jacobian matrix of a novel parallel manipulator called ROBO003（3DOF）.A simple way is used to get the reciprocal screw of the joint screw of a limb,and then the Jacobian constraint matrix,the Jacobian actuation matrix and the Jacobian overall matrix are obtained.These Jacobian matrices can derive the mapping between the motion speed of a moving platform and the speed of an actuation joint.The method can- also be applied to the study of the Jacobian matrix of other 3 -DOF parallel manipulators.
出处
《机械制造与自动化》
2010年第4期172-175,共4页
Machine Building & Automation
关键词
反螺旋理论
并联机器人
雅可比矩阵
reciprocal screw theory
parallel manipulator
Jacobian matrix
