摘要
雅可比矩阵是并联机器人输入输出间的重要关系矩阵,能充分反映机器人的运动学性能。通常情况下,并联机器人具有多个运动自由度。为了避免移动和转动两种自由度的不同量纲对分析的影响,基于雅可比矩阵的分解形式,采用条件数倒数对一种冗余输入并联机器人的可控性能进行了研究,能够更贴切的反映并联机器人的位置和姿态运动控制的难易程度。研究的并联机器人采用了对称的支链结构,分析也表明机器人的可控性关于特定平面对称,验证了方法的有效性。
Jacobian is the most important matrix about the relationship between inputs and outputs for parallel~ robots.It reflects many robot kinematic performances to a great extent.Most of the parallel robots have more than one degree of freedoms.There are two different measurement methods for translation and rotation,which will affect the analysis result.In order to avoid the adverse effect and based on the divided form of the Jacobian matrix,reciprocal condition number is introduced in investigating the controllability of a redundant actuation parallel robot.It can represent the manipulability exactly by this method.The parallel robot presented here is constructed by setting its sub-chains symmetrically.Results show that the controlla- bility is symmetrical about a specific plane which proves the validity of this method.
出处
《机械设计与制造》
北大核心
2012年第10期150-152,共3页
Machinery Design & Manufacture
基金
山东省优秀中青年科学家科研奖励基金(BS2011ZZ013和BS2012ZZ009)
山东省教育厅高等学校优秀骨干教师国际合作培养项目联合资助
关键词
并联机器人
冗余输入
可控性
条件数
Parallel robot
Redundant Actuation
Controllability
Condition Number
