|本期目录/Table of Contents|

[1]王茹,陈巧红,陈志,等. 3PRRU并联机构的解析雅可比矩阵[J].浙江理工大学学报,2011,28(02):213-216.
　WANG Ru,CHEN Qiao hong,CHEN Zhi,et al. ScrewBased Analytic Formulation of Jacobian Matrix of 3PRRU Parallel Mechanism[J].Journal of Zhejiang Sci-Tech University,2011,28(02):213-216.
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 3PRRU并联机构的解析雅可比矩阵()
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浙江理工大学学报[ISSN:1673-3851/CN:33-1338/TS]

卷:
第28卷
期数:
2011年02期
页码:
213-216
栏目:
出版日期:
2011-04-30

文章信息/Info

Title:
 ScrewBased Analytic Formulation of Jacobian Matrix of 3PRRU Parallel Mechanism
文章编号:
16733851 (2011) 02021304
作者:
王茹;  陈巧红;  陈志;  李秦川
 浙江理工大学机械与自动控制学院， 杭州 310018
Author(s):
 WANG Ru;  CHEN Qiaohong;  CHEN Zhi;  LI Qinchuan
 School of Machinery and Automation, Zhejiang SciTech University, Hangzhou 310018, China
关键词:
 ; 并联机构;  雅可比矩阵;  螺旋理论
分类号:
TH112
文献标志码:
A
摘要:
    并联机构的雅可比矩阵将驱动关节的速度映射为动平台的线速度和角速度，是并联机构性能分析和设计的重要工具。为建立3PRRU并联机构的完整雅可比矩阵，首先运用螺旋理论分析各分支，通过求出各分支的反螺旋系建立约束雅可比矩阵，该矩阵为3×6阶长方阵；然后锁定并联机构的驱动副后再求出各分支螺旋系的反螺旋系，可求出3×6阶驱动雅可比矩阵；最后综合这两个矩阵得到3PRRU并联机的6×6阶雅可比矩阵。该矩阵可反映出机构的所有奇异。

参考文献/References:

 ［1］ 黄真, 赵永生, 赵铁石. 高等空间结构学［M］. 北京: 高等教育出版社, 2006.
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［3］ Lee K, Shah D K. Kinematic analysis of a three degrees of freedom inparallel actuated manipulator［J］. IEEE Journal of Robotics and Automation, 1988, 4(3): 354360.
［4］ Tsai L W. Direct kinematic analysis of a 3PRS parallel mechanism［J］. Mechanism and Machine Theory, 2003, 38(1): 7183.
［5］ Li Yangmin, Xu Qingsong. Kinematic analysis of a 3PRS parallel manipulator［J］. Robotics and ComputerIntegrated Manufacturing, 2007, 23: 395408.
［6］ Kim S G, Ryu J. New dimensionally homogeneous jacobian matrix formulation by three endeffector points for optimal design of parallel manipulators［J］. IEEE Transactions on Robotics and Automation, 2003, 19(4): 731736.
［7］ Tsai L W, Sameer A J. Jacobian analysis of limitedDOF parallel manipulator［J］. Journal of Mechanical Design, 2002, 124(2): 254258.
［8］ 张铁牛, 李秦川. 基于COSMOSMotion的3PRRU并联机器人运动仿真［J］. 浙江理工大学学报, 2010(6): 885888.

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备注/Memo

备注/Memo:
 收稿日期： 2010-09-06
基金项目： 国家自然科学基金(50905167)；浙江省自然科学基金(R1090134)
作者简介： 王茹（1986-），女，江苏徐州人，硕士研究生，主要从事并联机器人理论和技术研究。
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