【摘要】 文章提出用螺旋理论的方法来构造包括结构奇异和约束奇异信息的雅可比矩阵 ,应用这种方法针对 6PM2机床的 3-RPS并联机构奇异位形进行分析。提出的分析方法可以为并联机构的机构设计和控制提供理论依据。更多还原

【Abstract】 Based on the theory of reciprocal screws, a method to establish the Jacobian matrix is presented which provides information about architecture and constraint singularities. The method is verified by singularity analysis of 3-RPS parallel manipulators of 6-PM2 machine tool. The method can give the theoretic reference for designing and controlling of the parallel manipulators.更多还原