期刊论文

中文

机械科学与技术

1003-8728

2007

26

5

606-609

10.3321/j.issn:1003-8728.2007.05.015

本校为第一机构

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。

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 act...