【摘要】 以3-SPT-S并联机构为研究对象,对机构进行位置分析,建立机构运动学模型和数学模型,推导出机构的雅可比矩阵和Hessian矩阵,并求解出局部速度灵巧度性能指标和加速度灵巧度性能指标。利用数学软件MATLAB绘制了局部性能指标的图谱,分析机构处于不同位姿下,性能指标的变化规律。更多还原

【Abstract】 By taking the 3-SPT-S Parallel manipulator as the research objective,conducted position analysis of the mechanism,the kinematical model and mathematical model were developed. The Jacobian matrix and Hessian matrix of the manipulator were derived,and the performance index of dexterity about the local velocity and acceleration was solved. The local performance indices atlas was drawn by using the mathematical software MATLAB. The change regulation of the performance indices is analyzed in different position of the parallel manipulator.更多还原