【摘要】 对于少自由度的并联机构,基于它在运动时受到的约束力和约束力矩.给出了约束力/约束力矩的判断准则.并推导出了少自由度并联机构统一的雅可比矩阵和Hession矩阵.最后,应用所推导理论,对3-RPS并联机构进行运动学分析.为少自由度并联机构的静力学、动力学解析提供了统一的运算依据.更多还原

【Abstract】 A unified and simple approach is proposed for solving inverse/forward velocity and acceleration of the limited-dof with linear active legs.a general PKM with n active legs is constructed.the poses of the constrained wrench are determined and the formulae for solving auxiliary Jacobian/Hessian matrices are derived.some formulae are derived for solving the general velocity/acceleration,the 6×6 Jacobian matrix and the 6×6×6 Hessian matrix.Finally,the solving procedure is illustrated by applying it to a 3-SPR.更多还原