机构影响系数和并联机器人雅克比矩阵的研究

基于刚体运动学的原理，对机构影响系数进行了研究，用运动坐标系和拟牵连速度的概念给出了机构速度影响系数求解公式，揭示了机构影响系数的物理意义，明确地论证了机构速度影响系数只与机构瞬时位姿有关而与机构的真实速度无关的结论。并将该方法用于并联机器人的运动学研究，由此而给出了求解并联机器人的雅克比矩阵的方法。

Influence coefficient of mechanism and jacobia matrix of parallel robot

The influence coefficient of mechanism is a very important concept in mechanic's since it deeply reflects the essence of mechanism and lots of analysis of mechanism become very simple and clear by the use of it. Based on principle of rigid body kinematics, the influence coefficient of mechanism is investigated and the formulation for solving influence coefficient of mechanism is given in the concept of moving coordinate system and pseudo convected velocity. The physical implication of influence coefficient of mechanism is revealed and the conclusion that the influence coefficient is just dependent on the configuration of mechanism and has nothing to do with actual velocity of mechanism is distinctly verified. By using the abovementioned the method, the study on the kinematics of parallel robot is implemented and the technique of deriving Jacobian matrix of parallel robot is given.