A novel approach to deriving the unit-homogeneous Jacobian matrices of mechanisms

被引：8

作者：

Kong, Minxiu ^{[1
]}

Zhang, Yong ^{[1
]}

Du, Zhijiang ^{[1
]}

Sun, Lining ^{[1
]}

机构：

[1] Harbin Inst Technol, Inst Robot, Harbin 150006, Heilongjiang, Peoples R China

来源：

2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年

关键词：

Jacobian matrix; unit-homogeneous Jacobian matrix; condition number; dexterity;

D O I：

10.1109/ICMA.2007.4304047

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The condition number of a mechanism's Jacobian matrix can be considered as an indicator of its dexterity. However, the unit-inhomogeneity problem existing in the Jacobian matrix of some mechanisms with both translational and rotational degrees of freedom discourages the designers from using this index. Addressing this issue, this paper furthers the earlier work and presents a new general method for deriving the dimensionally homogeneous Jacobian matrix of mechanisms. The deriving process includes two steps: deriving the conventional Jacobian matrix, and then mapping the general velocity of the end effecter onto the linear velocities of three points on the top plate plane. A 6-DOF hybrid mechanism is used to demonstrate this deriving process, and its dexterity is initially analyzed.

引用

页码：3051 / 3055

页数：5

共 19 条

[1]

Angeles J., 1992, Proceedings. 1992 IEEE International Conference on Robotics And Automation (Cat. No.92CH3140-1), P494, DOI 10.1109/ROBOT.1992.220242

[2]

ANGELES J, 1995, P IFTOMM 9 WORLD C T, V1, pR42

[3]

Bonev I. A., 1999, P ASME 1999 DES ENG, P1

[4]

Bonev I. A., 2002, 2002 PAR KIN MACH IN, P171, DOI DOI 10.1109/WHC.2005.33

[5] A new approach to orientation workspace analysis of 6-DOF parallel manipulators [J].

Bonev, IA ;

Ryu, J .

MECHANISM AND MACHINE THEORY, 2001, 36 (01) :15-28

[6] The dynamic capability equations: A new tool for analyzing robotic manipulator performance [J].

Bowling, A ;

Khatib, O .

IEEE TRANSACTIONS ON ROBOTICS, 2005, 21 (01) :115-123

[7]

Gosselin C. M., 1990, Proceedings 1990 IEEE International Conference on Robotics and Automation (Cat. No.90CH2876-1), P650, DOI 10.1109/ROBOT.1990.126057

[8]

Huang Z., 1985, P 4 IFTOMM INT S LIN, VII-1, P155

[9] New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators [J].

Kim, SG ;

Ryu, J .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2003, 19 (04) :731-737

[10]

LIPKIN H, 1988, ASME J MECH T AUT DE, V110, P1138

← 1 2 →