摘要
利用SolidWorks建立了3-RRR机构的三维模型,对照三维模型采用D-H法建立了3-RRR机构处于任意位形的机构坐标系,运用螺旋理论计算出该机构的一阶运动影响系数即运动雅可比矩阵,参照运动雅可比矩阵奇异的特点,利用可操作数和条件数对3-RRR并联机构进行了灵巧度分析,得出了该机构的灵巧性特点。
In this paper ,the three-dimensional model of a 3-RRR mechanism was set up by SolidWorks .Based on the model ,the body coordinate system of 3-RRR mechanism on any configuration was established using the D-H method .Then the theory of screw was used to calculate the first-order motion influence coefficient which means Jacobi matrix of 3-RRR mechanism .Based on singular characteristics of Jacobi matrix ,the operand and conditional number for 3-RRR mechanism were analyzed ,and the dexterity feature of this mechanism was obtained .
出处
《机械工程与自动化》
2014年第2期75-77,共3页
Mechanical Engineering & Automation
