摘要
对混合驱动二自由度平面五杆机构基于输入输出速度的雅可比矩阵进行了解析推导;在此基础上,分析了机构奇异位形条件。通过雅可比矩阵的条件数,分析机构输出运动的灵巧性,并基于上述方法给出算例的仿真结果,为提高混合驱动平面二自由度五杆机构的控制性能、优化机构设计提供理论依据。
The Jacobian relating the input speeds with the output s peeds off a two-DOF is deduced. Based on velocity Jacobian matrix, two kinds of singular positions were discovered, and their characteristics were discussed respectively. The flexibility of the mechanism is analyzed by the condition number of Jacobian matrix. It gave a case in which the condition number is simulated. The relationship between design parameters of the mechanism and the condition number of Jacobian matrix is analyzed from the kinematic viewpoint. The results are useful to the design and control of two- DOF planar five-bar mechanism. [
出处
《农机化研究》
北大核心
2004年第5期120-122,125,共4页
Journal of Agricultural Mechanization Research
关键词
混合驱动平面
二自由度
五杆机构
运动性能
奇异性
machinery design
five-bar mechanism
analysis
jacobian
singularity
condition number
