【摘要】 讨论了并联机构存在奇异性的几种情况,运用混合输入五杆机构输入输出速度的矩阵关系表达式,在整个铰链空间分析Jacobian矩阵中各项的连续性,推导出输出端速度空间连续性的判定准则。给出算例并进行仿真计算,验证了研究的正确性。更多还原

【Abstract】 Thia paper discussed several conditions of singularity of parallel mechanisms and presented the criterion method of the continuation property of velocity spacce of five-bar hybrid mechanism. By using matrix equation of input and output velocity of five-bar hybrid mechanism the continuotion property of all the items of Jacobian matrix is analyzed. Finally,an example on the continuation property of velocity space is given and proved.更多还原