2(2-UPR+SPR)串并联机构雅可比矩阵的建立

建立了一种新型串并联机构的雅可比矩阵。首先，介绍了一种新型的2(2-UPR+SPR)串并联机构，该机构由两个2-UPR+SPR机构串联而成，它具有串联机构和并联机构的共同优点。然后，根据2-UPR+SPR机构中存在的几何约束建立了其速度约束矩阵和速度耦合矩阵。最后，分析了2(2-UPR+SPR)串并联机构的速度传递关系，通过合理处理独立并联机构的速度耦合和约束关系，建立了2(2-UPR+SPR)串并联机构整体正向和逆向雅可比矩阵。研究结果表明，2(2-UPR+SPR)机构的雅可比矩阵包含各个独立并联机构的运动、约束和耦合信息。所提出的建立2(2-UPR+SPR)机构雅可比矩阵的方法也适合其他串并联机构。

Jacobian Matrix Establishment of 2(2-UPR+SPR) Serial-parallel Manipulator

The Jocobian of a novel 2(2-UPR+SPR) serial-parallel manipulator was established.First, a 2(2-UPR+SPR) serial-parallel manipulator formed by two 2-UPR+SPR mechanisms was presented. This manipulator could provide advantages of both serial and parallel manipulators. Second, the velocity decoupling and velocity constraint equations for single 2-UPR+SPR were analyzed based on the geometric constraints in the mechanism. Finally, the velocity transfer relation for the 2(2-UPR+SPR) serial-parallel manipulator was analyzed. Based on the velocity decoupling and constraint characteristics of single 2-UPR+SPR mechanism, the integral forward and inverse Jacobian matrix for 2(2-UPR+SPR) serial-parallel manipulator were established. The results show that the established Jacobian matrices contain kinematics, coupling and constraint information of each 2-UPR+SPR mechanism. The methodology for establishing the integral Jacobian matrix of the 2(2-UPR+SPR) serial-parallel manipulator herein is also fitable for other serial-parallel manipulators.