【摘要】 通过对6-SPS型并联机器人位置输入输出方程微分,获得机器人逆雅可比矩阵。研究机器人处于非奇异位姿即逆雅可比矩阵行列式不接近零时,结构尺寸变化对机器人精度的影响。更多还原

【Abstract】 The inverse Jacobi matrix of the 6-SPS parallel manipulator is obtained from differential equations of the reverse displacement analysis. The effects of structure size changes on the accuracy have been studied when the 6-SPS parallel manipulator is not at the singular location,namely the |J-1| is far away from the zero.更多还原