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。
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.
出处
《机械设计与研究》
CSCD
北大核心
2005年第3期49-52,58,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(50275092)
关键词
Jacobian矩阵
五杆机构
速度空间
连续性
Jacobian Matrix
five-bar mechanism
volecity distribution space
continuous property
