六自由度混联机构雅可比矩阵求解及奇异位形分析

发布时间：2018-06-02 01:39

本文选题：混联机构 + 雅可比矩阵　；参考：《东华大学学报(自然科学版)》2017年03期

【摘要】：提出一种由2个不同的三自由度并联机构串接而成的混联机构,针对下端和上端并联模块分别建立速度雅可比矩阵,然后通过上下两个并联模块的运动关系,建立整个混联机构的整体雅可比矩阵.雅可比矩阵是分析机构奇异位形的基础,通过令机构整体雅可比矩阵行列式为零,从而得到机构奇异的非线性方程来研究混联机构的奇异位形,同时运用MAPLE软件绘制出机构的奇异轨迹.该方法建立了由2个并联模块组成的混联机构的雅可比矩阵,具有一定的理论意义.
[Abstract]:A hybrid mechanism consisting of two different 3-DOF parallel mechanisms is proposed. The velocity Jacobian matrix is established for the lower and upper end parallel modules respectively, and then the kinematic relationship between the two parallel modules is obtained. The whole Jacobian matrix of the whole hybrid mechanism is established. Jacobian matrix is the basis of analyzing the singular configuration of the mechanism. By making the global Jacobian matrix determinant of the mechanism zero, the singular nonlinear equation of the mechanism is obtained to study the singular configuration of the hybrid mechanism. At the same time, the singularity track of the mechanism is plotted by MAPLE software. The Jacobian matrix of a hybrid mechanism composed of two parallel modules is established by this method, which has certain theoretical significance.
【作者单位】：江南大学机械工程学院;江苏省食品先进制造装备技术重点实验室;上海交通大学机械系统与振动国家重点实验室;
【基金】：国家自然科学基金资助项目(50905075) 机械系统与振动国家重点实验室开放课题资助项目(MSV201407) 江苏省食品先进制造装备技术重点实验室开放课题资助项目(FM-201402)
【分类号】：TH112

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