正交结构6-PP+S并联机构灵巧度性能分析  

On the Analysis of the Dexterity for 6-PP+S Parallel Mechanism with Perpendicular Structures

作　　者：宋捧[1] 王晓慧[1] 

机构地区：[1]河北工业大学,天津300130

出　　处：《机电产品开发与创新》2006年第5期1-3,共3页Development & Innovation of Machinery & Electrical Products

基　　金：国家自然科学基金资助项目(50475055)

摘　　要：提出了一种新型正交结构6-PP+S并联机构,描述了其结构布局和特点,并建立了运动学方程。以雅可比矩阵的条件数评价并联机构的灵巧度性能,考察了6-PP+S并联机构运动灵巧度与末端动平台姿态的关系。In the paper, a 6-PP＋S parallel mechanism with perpendicular structures is proposed and its corlfigurafion is described. After that, the kinematics equation is built. Condition number of Jacobian matrix of can evaluate the dexterity of a parallel mecharnism. Base on it, the relation between the dexterity and the pose of up-platform of the 6-PP＋S parallel mechanism is studied.

关 键 词：正交结构 6-PP+S 并联机构 灵巧度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]