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正交结构6-PP+S并联机构灵巧度性能分析
On the Analysis of the Dexterity for 6-PP+S Parallel Mechanism with Perpendicular Structures
【摘要】 提出了一种新型正交结构6-PP+S并联机构,描述了其结构布局和特点,并建立了运动学方程。以雅可比矩阵的条件数评价并联机构的灵巧度性能,考察了6-PP+S并联机构运动灵巧度与末端动平台姿态的关系。
【Abstract】 In the paper,a 6-PP+S parallel mechanism with perpendicular structures is proposed and its configuration is described.After that,the kinematics equation is built.Condition number of Jacobian matrix of can evaluate the dexterity of a parallel mechanism.Base on it,the relation between the dexterity and the pose of up-platform of the 6-PP+S parallel mechanism is studied.
【关键词】 正交结构;
6-PP+S;
并联机构;
灵巧度;
【Key words】 Perpendicular structures; 6-PP+S; Parallel mechanism; Dexterity;
【Key words】 Perpendicular structures; 6-PP+S; Parallel mechanism; Dexterity;
【基金】 国家自然科学基金资助项目(50475055)
- 【文献出处】 机电产品开发与创新 ,Development & Innovation of Machinery & Electrical Products , 编辑部邮箱 ,2006年05期
- 【分类号】TP242
- 【被引频次】5
- 【下载频次】100