| 基于Jacobi矩阵3-PUU并联机构的奇异性研究 |
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| 引用本文： | 郑德星.基于Jacobi矩阵3-PUU并联机构的奇异性研究[J].机械制造与自动化,2012,41(2):41-43,49. |
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| 作者姓名： | 郑德星 |
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| 作者单位： | 盐城工学院优集学院,江苏盐城,224051 |
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| 基金项目： | 盐城工学院校级项目(XKR2011031) |
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| 摘 要： | 针对观察法无法确定少自由度并联机构的活动能力问题,对所研究的3 - PUU机构进行了运动学建模,求解了机构的速度Jacobi矩阵,采用代数法借助Jacobi矩阵的秩分析了机构的奇异性,绘制了详细的判别表格.研究表明,运动中机构的奇异性与z坐标的位置无关,考虑机构的具体尺寸、工作要求和安装位型,该3 - PUU机构在特定的工作空间内是不存在奇异的.
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| 关 键 词： | 并联机构 Jacobi矩阵 奇异性分析 |
Singularity Study of 3-PUU Parallel Mechanism Based on Jacobi Matrix |
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| ZHENG De-xing.Singularity Study of 3-PUU Parallel Mechanism Based on Jacobi Matrix[J].Machine Building & Automation,2012,41(2):41-43,49. |
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| Authors: | ZHENG De-xing |
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| Affiliation: | ZHENG De-xing(School of UG,Yancheng Institute of Technology,Yancheng 224051,China) |
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| Abstract: | As a result of observation can not be used to determine the activities ability of less freedom parallel mechanism,this papetr establishes the kinematic model of 3-PUU parallel mechanism and solves the Jacobi matrix.It also discriminates the singularity by Jacobi matrix and draws a detailed discriminating form.So the results show that the singularity is nothing to do with the "z" position in movement,and the parallel manipulator is no singularity in of the parallel mechaninsm the specific size,requirements and installation position. |
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| Keywords: | parallel mechanism Jacobi matrix singularity analysis |
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