| 基于反螺旋理论的3-RSR并联机器人雅可比矩阵研究 |
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| 引用本文： | 陈文凯,刘平安,杨宏林.基于反螺旋理论的3-RSR并联机器人雅可比矩阵研究[J].机械科学与技术(西安),2007,26(5):606-609. |
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| 作者姓名： | 陈文凯 刘平安 杨宏林 |
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| 作者单位： | [1]湖南农业大学工学院,长沙410128 [2]华东交通大学机电工程学院,南昌330013 [3]湖南大学工商管理学院,长沙410028 |
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| 摘 要： | 运用反螺旋理论对3-RSR三自由度并联机器人的雅可比矩阵进行了研究。采用简单的方法,找到支链关节螺旋的反螺旋,从而得到了约束雅可比矩阵、驱动雅可比矩阵和完全雅可比矩阵,不但导出动平台的运动速度到驱动关节速度之间的映射,而且易于进行全面的奇异位形分析;3-RSR并联机器人无约束奇异,当支链的驱动旋转副轴线、被动旋转副轴线和球铰共面时,产生结构奇异。该文方法亦可用于其他三自由度并联机器人的雅可比矩阵研究。
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| 关 键 词： | 并联机器人 螺旋理论 雅可比矩阵 奇异位形分析 |
| 文章编号： | 1003-8728（2007）05-0606-04 |
| 修稿时间： | 2005-11-16 |
Jacobian Matrix Analysis of 3-RSR Parallel Manipulator Using the Reciprocal Screw Theory |
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| Chen Wenkai,Liu Ping''''an,Yang Honglin.Jacobian Matrix Analysis of 3-RSR Parallel Manipulator Using the Reciprocal Screw Theory[J].Mechanical Science and Technology,2007,26(5):606-609. |
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| Authors: | Chen Wenkai Liu Ping'an Yang Honglin |
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| Affiliation: | 1. College of Engineering, Hunan Agricultural University, Changsha 410128 ; 2 East China Jiaotong University, Nanchang 330013 ; 3. Hunan University, Changsha 410028 |
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| Abstract: | We apply the reciprocal screw theory to the study of the Jacobian matrix of a 3-RSR 3-DOF parallel manipulator. We find the reciprocal screw of the joint screw of a limb, thus obtaining the Jacobian constraint matrix, the Jacobian actuation matrix and the Jacobian overall matrix. These Jacobian matrices can derive the mapping between the motion speed of a moving platform and the speed of an actuation joint and carry out the easy and compre- hensive singularity analysis. Our 3-RSR parallel manipulator has no constraint singularity, and structural singularity occurs when the axial line of an active revolution joint, a passive revolution joint and the spherical joint of a limb are coplanar. Our method presented here can also be applied to the study of the Jacobian matrix of other 3-DOF parallel manipulators. |
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| Keywords: | parallel manipulator reciprocal screw theory Jacobian matrix singularity analysis |
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