| Stewart平台雅可比矩阵分析 |
| |
| 引用本文： | 赵慧,张尚盈.Stewart平台雅可比矩阵分析[J].重庆科技学院学报(自然科学版),2007,9(3):142-144. |
| |
| 作者姓名： | 赵慧 张尚盈 |
| |
| 作者单位： | 1. 武汉科技大学,武汉,430081
2. 华中科技大学数字制造及设备技术国家重点实验室,武汉,430074 |
| |
| 摘 要： | 通过Stewart平台的运动学分析,推导出雅可比矩阵公式,并通过仿真结果对其物理意义进行验证。
|
| 关 键 词： | Stewart平台 运动学分析 雅可比矩阵 |
| 文章编号： | 1673-1980(2007)03-0142-03 |
| 修稿时间： | 2007年5月20日 |
On Jacobian Matrix of Stewart Platform |
| |
| ZHAO Hui,ZHANG Shang-ying.On Jacobian Matrix of Stewart Platform[J].Journal of Chongqing University of Science and Technology:Natural Science Edition,2007,9(3):142-144. |
| |
| Authors: | ZHAO Hui ZHANG Shang-ying |
| |
| Abstract: | Jacobian matrix is an important parameter of Stewart platform.Through analyzing it,the relationship between platform velocity and hydro-cylinder velocity,the relationship between platform bearing and hydro-cylinder force,the control of hydro-cylinder and the motor coupling situation among all degree of freedom can be obtained.Hence,it's very important to deduce Jacobian matrix and explain its physical meaning.By the kinematics analysis of Stewart platform,this paper deduces Jacobian matrix and verifies its physical meaning with its simulation result. |
| |
| Keywords: | Stewart platform kinematics analysis Jacobian matrix |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
