摘要
利用虚拟轴技术设计天线伺服系统是高精度、高刚度天线伺服系统发展的新方向。提出了一种基于3杆6自由度空间并联机构的天线伺服系统,对该系统进行运动学分析,推出了相应的位置、速度、加速度等运动学方程,并得出了雅可比矩阵的计算公式。使用 MATLAB 实现了该系统的运动仿真。
A design method of antenna servo system using Virtual axis technique is a new developmental direction as high precision,high antenna servo system.For this reason,Space Parallel mechanism with 3-pole&6-freedom is proposed in this paper.Corresponding Position,Velocity,Acceleration were deduced by analyzing the Space Parallel mechanism.Formula of the Jacobian matrix was obtained.It is presented the motion curves of Space Parallel mechanism with Matlab.
出处
《机械》
2006年第S1期88-90,共3页
Machinery
关键词
虚拟轴
空间并联机构
运动仿真
雅可比矩阵
virtual axis
space parallel mechanism
motion simulation
jacobian matrix
