A new expression to construct Jacobian matrix of parallel mechanism - 文章详情页

作者：

Xin, Hongbing (Xin, Hongbing.) | Huang, Qiang (Huang, Qiang.) | Duan, Xingguang (Duan, Xingguang.) | Yu, Yueqing (Yu, Yueqing.) (学者：余跃庆)

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摘要：

Based　on　the　velocity　relationship　between　two　points　on　the　mobile　platform,　the　new　expression　to　construct　the　forward　Jacobian　matrix　of　parallel　mechanism　by　its　branched　chains　is　deduced.　This　method　is　able　to　be　used　for　the　automatic　generation　of　Jacobian　matrix　of　parallel　mechanism　or　hybrid　mechanism,　the　correctness　of　presented　method　is　validated　by　analyzing　the　planar　5R　parallel　mechanism.　The　multiply　operations　in　the　new　expression　are　(36fp+6fa)　times　less　than　that　in　the　Jacobian　matrix　deduced　by　Monsarrat　and　Gosselin　in　literature　five　while　the　flexible　linkages　are　omitted　by　comparing　two　expressions.　©　2008　Springer　Berlin　Heidelberg.

关键词：

Jacobian matrices Mechanisms Robotics

作者机构：

[ 1 ] [Xin, Hongbing]School of Mechanical Engineering and Automation, Beijing Technology and Business University, 11 Fucheng Rd., Haidian Dist., 100037 Beijing, China
[ 2 ] [Xin, Hongbing]Intelligent Robot Lab., Beijing Institute of Technology, 5 South Zhongguancun St., Haidian Dist., 100081 Beijing, China
[ 3 ] [Huang, Qiang]Intelligent Robot Lab., Beijing Institute of Technology, 5 South Zhongguancun St., Haidian Dist., 100081 Beijing, China
[ 4 ] [Duan, Xingguang]Intelligent Robot Lab., Beijing Institute of Technology, 5 South Zhongguancun St., Haidian Dist., 100081 Beijing, China
[ 5 ] [Yu, Yueqing]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, 100 Pingleyuan, Chaoyang Dist., 100022 Beijing, China

通讯作者信息：

电子邮件地址：

xinhb@btbu.edu.cn

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