混合输入五杆机构的奇异性分析  

Singularity Analysis of Hybrid Input Five-Bar Mechanism

作　　者：周双林[1] 姚燕安[1] 郭为忠[1] 

机构地区：[1]上海交通大学机械工程学院,上海200030

出　　处：《上海交通大学学报》2001年第12期1817-1820,1833,共5页Journal of Shanghai Jiaotong University

摘　　要：混合输入五杆机构是最简单的并联机器人 .利用混合输入五杆机构的 Jacobian矩阵 ,推导出奇异性条件 .将奇异性分为两种类型 ,即 Jacobian矩阵行列式为 0和∞ ,并分析它们的特性 .根据四杆机构的可装配条件 ,分析得到不出现两种奇异位形的条件 .利用此条件及混合输入五杆机构的分类 ,分析无条件三曲柄。Hybrid input five bar mechanism is the simplest parallet robot. By using Jacobian matrix of hybrid input five bar mechanism, this paper concluded the conditions of sigularity. And those conditions are divided into two types, i.e. Jacobian is zero, or ∞. Their characteristics were analyzed. According to the four bar mechanism's assemblability, it analyzed the conditions of no existing the two kinds of singularity. Utilizing those conditions and classification of hybrid input five bar mechanism, it analyzed the singularity of non condition three cranks and non condition two cranks. Finally, some examples were given to validate the theorems.

关 键 词：混合输入五杆机构 奇异性分析 可装配条件 

分 类 号：TH112.1[机械工程—机械设计及理论] TP241.2[自动化与计算机技术—检测技术与自动化装置]