摘要
建立了一种6DOF串并联机构的雅克比矩阵,该机构底部是基于Delta机构、上面是球面2自由度五杆机构和一个独立旋转复合结构,对该机构3种灵巧度指标进行了分析,又定义了综合灵巧度指标,针对机构不同应用要求可以对3种灵巧度的指标取不同权值,并分析了其在工作空间内的变化,并用Matlab进行了仿真,研究结果可应用于该机机构的优化尺度综合和轨迹规划。
The Jacobian matrix of a 6 DOF serial and parallel mechanism is established. At the bottom of mechanism is based on Delta mechanism, the top of mechanism is a spherical 2 DOF five bars and a independent 1 DOF rotating composite mechanism. The three dexterity index is analyzed, and the comprehensive dexteri- ty index is defined. According to the requirements of different application can be different weights in the mecha- nism of three kinds of dexterity index, and the variation in its working space is analyzed, and it is simulated with MATLAB, the results can be applied to the machine mechanism optimization synthesis and trajectory planning.
出处
《机械传动》
CSCD
北大核心
2015年第6期159-165,共7页
Journal of Mechanical Transmission
基金
国家自然科学基金(50975144)
关键词
并联机构
雅克比矩阵
性能指标
Parallel mechanism Jacobi matrix Performance index
