| 由支链构造并联机器人雅可比矩阵 |
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| 引用本文： | 辛洪兵,余跃庆.由支链构造并联机器人雅可比矩阵[J].北京工业大学学报,2007,33(10):1014-1020. |
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| 作者姓名： | 辛洪兵 余跃庆 |
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| 作者单位： | 北京工商大学,机械自动化学院,北京,100037;北京工业大学,机械工程与应用电子技术学院,北京,100022;北京工业大学,机械工程与应用电子技术学院,北京,100022 |
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| 基金项目： | 国家自然科学基金，北京市自然科学基金，北京市属市管高等学校人才强教计划，北京市科技新星计划项目 |
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| 摘 要： | 为获得并联机器人雅可比矩阵,以移动平台上两点速度关系为基础,推导出一种由各支链机构雅可比矩阵构造并联机器人机构雅可比矩阵的表达式.该方法可用于并联机器人机构或混联机构雅可比矩阵的自动运算,乘法运算次数比排除了柔性杆件的Monsarrat和Gosselin推出的并联机器人机构雅可比矩阵形式少.通过平面5R并联机器人机构算例验证了该方法的正确性.
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| 关 键 词： | 机器人学 运动学 机构学 雅可比矩阵 并联机器人 串联机器人 混联机构 |
| 文章编号： | 0254-0037（2007）10-1014-07 |
| 修稿时间： | 2006-05-31 |
Construct Jacobian Matrix of Parallel Robot From Its Branches |
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| XIN Hong-bing,YU Yue-qing.Construct Jacobian Matrix of Parallel Robot From Its Branches[J].Journal of Beijing Polytechnic University,2007,33(10):1014-1020. |
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| Authors: | XIN Hong-bing YU Yue-qing |
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| Affiliation: | 1. School of Mechanical Engineering and Automation, Beijing Technology and Business University, Beijing 100037, China; 2. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100022, China |
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| Abstract: | To obtain the Jacobian matrix of parallel robot,based on the velocity relationship between two points on the mobile platform,a new expression to construct the Jacobian matrix of parallel robot by its branched chains is deduced.This method can be used for the automatic generation of Jacobian matrix of paral- lel robot or hybrid robot,the multiplication in the new expression is less than that in the Jacobian matrix de- duced by Monsarrat and Gosselin in literature five while the flexible linkages are omitted.The correctness of the presented method is validated by analyzing the plane 5R parallel robot. |
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| Keywords: | robotics kinematics mechanisms Jacobian matrix parallel robot serial robot hybrid mechansim |
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