3PSS-S型并联机构的奇异轨迹研究

doi:10.16578/j.issn.1004.2539.2007.04.007

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3PSS-S型并联机构的奇异轨迹研究

更新时间：2025-04-03

- 3PSS-S型并联机构的奇异轨迹研究
- Issue 4, Pages: 9-11+14+114(2007)
- 作者机构：
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- DOI：10.16578/j.issn.1004.2539.2007.04.007
  CLC： TH112
- Published：2007
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[1]向中凡,张均富,王进戈.3PSS-S型并联机构的奇异轨迹研究[J].机械传动,2007(04):9-11+14+114.

[J]. 2007, (4): 9-11+14+114.
[1]向中凡,张均富,王进戈.3PSS-S型并联机构的奇异轨迹研究[J].机械传动,2007(04):9-11+14+114. DOI： 10.16578/j.issn.1004.2539.2007.04.007.

[J]. 2007, (4): 9-11+14+114. DOI： 10.16578/j.issn.1004.2539.2007.04.007.

摘要

针对一种3PSS-S球面并联机构

建立了该并联机构的位置反解数学模型

推导了并联机构速度方程和雅可比矩阵的解析表达式。基于机构的雅可比矩阵

应用等高线方法绘制了并联机构的奇异轨迹曲线

并讨论了固定平台结构参数对并联机构奇异轨迹的影响。

Abstract

The inverse position equations are formed

and the velocity equation containing the actuator and the end effector velocities

and the analytical express of Jacobin matrices are derived for the 3PSS-S spherical parallel manipulators.Based on those Jacobin matrices

the contours method was adopted for analyzing the singularity loci of 3PSS-S spherical parallel manipulators.The influence of structure parameters of static platform on singularity loci of parallel manipulator is studied.

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A Universal Calculation Method for Jacobian Matrix of Parallel Mechanism

Related Author

Zhang Shuangshuang

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College of Mechanical Engineering,Anhui University of Science and Technology

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