A Universal Calculation Method for Jacobian Matrix of Parallel Mechanism

Zhang Shuangshuang; Yang Hongtao

doi:10.16578/j.issn.1004.2539.2015.11.022

您当前的位置：

首页 >

文章列表页 >

A Universal Calculation Method for Jacobian Matrix of Parallel Mechanism

更新时间：2022-10-20

- A Universal Calculation Method for Jacobian Matrix of Parallel Mechanism
- Vol. 39, Issue 11, Pages: 95-97(2015)
- 作者机构：
  
  1. 安徽理工大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.11.022
  CLC：
扫描看全文
[1]张双双,杨洪涛.一种并联机构雅可比矩阵的通用计算方法[J].机械传动,2015,39(11):95-97+114.

Zhang Shuangshuang, Yang Hongtao. A Universal Calculation Method for Jacobian Matrix of Parallel Mechanism. [J]. 39(11):95-97(2015)
[1]张双双,杨洪涛.一种并联机构雅可比矩阵的通用计算方法[J].机械传动,2015,39(11):95-97+114. DOI： 10.16578/j.issn.1004.2539.2015.11.022.

Zhang Shuangshuang, Yang Hongtao. A Universal Calculation Method for Jacobian Matrix of Parallel Mechanism. [J]. 39(11):95-97(2015) DOI： 10.16578/j.issn.1004.2539.2015.11.022.

摘要

雅可比矩阵是机构学中的一个重要概念,它深刻的反映了机构的本质,其结果不仅提供了一种运动学的映射关系,还为后续的分析和综合提供了依据。介绍了一种基于螺旋理论的并联机构雅可比矩阵的通用计算方法,由于采用构造的方式,避免了以往计算方法中的观察、求导等繁杂的步骤,从而使雅可比矩阵的计算大为简化;同时,由于其模块化、程序化的特点,该方法在计算机辅助设计中具有很大的优势。以3-RPS少自由度并联机构为例,进行了计算分析,该过程验证了方法的优越性,为后续的机构性能分析和设计奠定了良好的基础。

Abstract

The Jacobian matrix is a key concept in mechanisms and profoundly reflect the nature of the mechanism,which provides us not only a kinematics mapping relations,it also sets a basis for mechanism analysis and synthesis in the future.A universal calculation method for Jacobian matrix of parallel mechanism is presented based on screw theory.Due to its style of construction,tedious steps in normal calculation method,including observation and derivation are nicely avoided,which makes this new method much more simplified.Meanwhile,since its modularization in style,this method also provides its advantages in computer aided programming.A limited-DOF parallel manipulator 3-RPS is used as an example to testify the superiority of this method,which also set a good foundation for further performance analysis and design.

关键词

雅可比矩阵螺旋理论并联机构

Keywords

references

Views

326

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

一种大摆角五轴联动混联机床设计及运动学分析

Kinematics Analysis and Simulation of the Cement Truck Loading Manipulator

Workspace Analysis and Optimization Design of 3- PUU Parallel Mechanism

Performance Index Analysis of A 6 DOF Serial And Parallel Mechanism

Forward Position Solution and Singularity Analysis of a 3SPS+1PS Bionic Parallel Manipulator

Related Author

No data

Related Institution

中北大学机械与动力工程学院

College of Mechanical Engineering, North China University of Science and Technology

College of Mechanical Engineering,Liaoning Technical University

Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing University of Aeronautics and Astronautics

Mechanical department,Nanjing College of Chemical Technology

⁰