【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 ,位姿变化对机器人精度的影响。更多还原

【Abstract】 Inverse Jacobi matrix of robot was obtained by means of the differentiation with respect to input and output equations for positions of 6-SPS typed parallel robot.The effects of posture changes on the accuracy of robot have been studied when the robot is in non-singular posture,namely the determinant of inverse Jacobi matrix is not close to zero.更多还原