Performance analysis of 3-PPRU parallel mechanism with a completely/partially/non constant Jacobian matrix

被引：4

作者：

Cao, Yachao ^{[1
]}

Zhang, Tie ^{[1
]}

Zhao, Yanzhi ^{[2
,3
]}

Ma, Guangcai ^{[1
]}

机构：

[1] South China Univ Technol, Sch Mech & Automot Engn, Guangzhou 510640, Peoples R China

[2] Yanshan Univ, Parallel Robot & Mechatron Syst Lab, Qinhuangdao 066004, Hebei, Peoples R China

[3] Yanshan Univ, Key Lab Adv Forging & Stamping Technol & Sci, Minist Natl Educ, Qinhuangdao 066004, Hebei, Peoples R China

来源：

JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2020年 / 34卷 / 10期

关键词：

Parallel mechanism; Partially constant Jacobian matrix; Performance analysis; Screw theory; DESIGN;

D O I：

10.1007/s12206-020-0918-5

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper proposes a 3-PPRU parallel mechanism (PM) with a completely/partially/non constant Jacobian matrix. Based on screw theory and selecting actuating components theory, the reasonability of the actuating input selection is analyzed. By different actuating selection, the Jacobian matrix of the PM can realize completely/partially/non constant. The direct, inverse and combined kinematic singularities of the PM with three different Jacobian matrices are discussed. The velocity, payload and stiffness performance of the PM are discussed and compared. A new index, as auxiliary evaluation index, is proposed first.

引用

页码：4263 / 4279

页数：17

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