| 3-RRR并联机构灵巧度分析 |
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| 引用本文： | 杜聿静,王雷. 3-RRR并联机构灵巧度分析[J]. 山西机械, 2014, 0(2): 75-77 |
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| 作者姓名： | 杜聿静 王雷 |
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| 作者单位： | 潞安职业技术学院,山西长治046204 |
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| 摘 要： | 利用SolidWorks建立了3-RRR机构的三维模型，对照三维模型采用D-H法建立了3-RRR机构处于任意位形的机构坐标系，运用螺旋理论计算出该机构的一阶运动影响系数即运动雅可比矩阵，参照运动雅可比矩阵奇异的特点，利用可操作数和条件数对3-RRR并联机构进行了灵巧度分析，得出了该机构的灵巧性特点。
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| 关 键 词： | 螺旋理论 运动雅可比矩阵 灵巧度 并联机构 |
Analysis of Dexterity of 3-RRR Mechanism |
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| DU Yu-jing,WANG Lei. Analysis of Dexterity of 3-RRR Mechanism[J]. Shaanxi Machinery, 2014, 0(2): 75-77 |
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| Authors: | DU Yu-jing WANG Lei |
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| Affiliation: | (Lu＇an Vocational 8,.Technical College, Changzhl 046204, China) |
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| Abstract: | In this paper ,the three-dimensional model of a 3-RRR mechanism was set up by SolidWorks .Based on the model ,the body coordinate system of 3-RRR mechanism on any configuration was established using the D-H method .Then the theory of screw was used to calculate the first-order motion influence coefficient which means Jacobi matrix of 3-RRR mechanism .Based on singular characteristics of Jacobi matrix ,the operand and conditional number for 3-RRR mechanism were analyzed ,and the dexterity feature of this mechanism was obtained . |
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| Keywords: | theory of screw Jacobi matrix dexterity parallel mechanism |
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