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一种新并联主手的灵巧度分析
引用本文:朱延河,赵杰,蔡鹤皋.一种新并联主手的灵巧度分析[J].哈尔滨工业大学学报,2005,37(1):10-13.
作者姓名:朱延河  赵杰  蔡鹤皋
作者单位:哈尔滨工业大学,机器人研究所,黑龙江,哈尔滨,150001
基金项目:国家高技术研究发展计划资助项目(2001AA422250).
摘    要:建立了基于Delta和3-RRR复合结构的双并联式主手平动与转动独立的运动学模型,并推导出各自的雅可比矩阵,给出了局部灵巧度和全局灵巧度的计算方法.在计算过程中,引入了MonteCarlo方法使计算过程简化,效率提高.给出了特定构型下的机构灵巧度分析结果,验证了上述方法的有效性,灵巧度的分析结果可直接用于主手的优化尺度综合.

关 键 词:主手  雅可比矩  阵并联机构  灵巧度
文章编号:0367-6234(2005)01-0010-04
修稿时间:2002年5月30日

Dexterity analysis of a novel double-parallel haptic interface
ZHU Yan-he,ZHAO Jie,CAI He-gao.Dexterity analysis of a novel double-parallel haptic interface[J].Journal of Harbin Institute of Technology,2005,37(1):10-13.
Authors:ZHU Yan-he  ZHAO Jie  CAI He-gao
Abstract:Independent translational and rotational kinematic models of a Delta and 3-RRR mechanism based double parallel haptic device were established and the corresponding Jacobean matrixes were derived respectively. Calculation methods of local dexterity and global dexterity were presented. Monte Carlo method was introduced which simplified the algorithm and increased the calculation efficiency. The calculation result under a specified device parameter set showed the validity of this methodology. The derived dexterity analysis result can be directly used in dimensional synthesis of the haptic device.
Keywords:haptic interface  Jacobean matrix  parallel mechanism  dexterity
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