并联机构雅可比矩阵的新式解法  

Two new methods in computing jacobian for parallel robot

作　　者：张秀峰[1] 于凌涛 孙立宁[1] 

机构地区：[1]哈尔滨工业大学,哈尔滨150001

出　　处：《机械设计与制造》2003年第6期60-61,共2页Machinery Design & Manufacture

基　　金：国家863计划资助项目(2001AA422120)

摘　　要：介绍了并联机器人雅可比矩阵的两种新式解法:矢量构造法、基于符号运算的微分构造法。由于采用构造的方式计算雅克比矩阵,避免了以往对反解方程直接求导的计算方式,从而使雅克比矩阵的计算大为简化,另外利用计算机强大的计算功能,采用符号运算的方式也很方便。文中以6-PSS结构并联机器人为立,计算结果表明:这两种方法计算简单、准确、在工程应用中具有很强的实用性。Two Methods of computing the Jacobian matrix are introduced. These methods decrease the amount of calculation. Especially the new methods of computing Jacobin were put forward, not by calculating differential coefficient of inverse solution equation, but by structuring method ,So it is more simpler than former one. It could be used to calculate the Jacobian matrix for any parallel mechanisms. In using, these methods were proved simple, fast and correct.

关 键 词：并联机构 雅可此矩阵 并联机器人 矢量构造法 微分构造法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP301.6[自动化与计算机技术—控制科学与工程]