摘要
通过建立Delta机构的空间模型,将机构尺寸抽象化处理,用向量法和导数法求取Delta机构的雅可比矩阵表达式,并以机构条件数分布及奇异形位分析来进行参数优化研究。
By establishing the spatial model of Delta mechanism,the dimension of the mechanism is being abstracted. The Jacobian matrix expression of Delta mechanism is obtained by vector and derivative method,and the parameter optimization is studied by condition number distribution and singular configuration analysis.
引文
[1]刘辛军,汪劲松,米浦波,王立平.DELTA并联机器人最大内切工作空间的几何求解[A]. 2001年中国智能自动化会议论文集(上册)[C],2001.
[2]杨志永,黄田,倪雁冰.3-HSS并联机床动力学建模及鲁棒轨迹跟踪控制[J].机械工程学报, 2004,11.
[3]王海东.并联机器人机构构型与性能分析[D].秦皇岛:燕山大学.2001.