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新型并联机器人ROBO_003的雅可比矩阵研究

Jacobian Matrix Analysis of New Parallel Manipulator ROBO_003 Using Reciprocal Screw Theory
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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
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参考文献3

  • 1Gosselin C,Angeles J.Singularity analysis of closed-loop kinematic chains[J].IEEE Transactions on Robotics and Automation,1990,(6):281-290.
  • 2Joshi S A.A comparative study of two C lasses of 3-DOF parallel manipulators[D].America:The University of Maryland,2002.
  • 3Joshi SA,Tsai L W.Jacobian analysis of limited-d of parallel manipulators[J].ASME Transactions,Journal of Mechanical Design,2002,124(2):254-258.

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