基于雅克比矩阵的并联机器人运动学性能分析

Kinematics Performance Analysis of Parallel Robot Based on Jacobian Matrix

基于雅克比矩阵的机构运动特分析对于并联机构的设计具有重要指导意义。本文主要介绍3-UPS/RRR并联机构的运动特性,首先建立机构的雅克比矩阵,利用雅克比矩阵建立机构的可操作度指标,其次借助可操作度指标对在不同姿态下的机构可操作度进行评估。通过MATLAB仿真结果表明,该机构具有良好的可操作性能。

The kinematic characteristic analysis based on Jacobian matrix is very important for the design of parallel mechanism.This paper mainly introduces the kinematic characteristics of 3-UPS/RRR parallel mechanism.Firstly,the Jacobian matrix of the mechanism is established,and then the operability index of the mechanism is established by using the Jacobian matrix.Secondly,the operability of the mechanism in different attitude is evaluated by the operability index.Matlab simulation results show that the mechanism has good operability.