Jacobian analysis of limited-DOF parallel manipulators

被引：306

作者：

Joshi, SA ^{[1
]}

Tsai, LW ^{[1
]}

机构：

[1] Univ Maryland, Dept Mech Engn, College Pk, MD 20742 USA

来源：

JOURNAL OF MECHANICAL DESIGN | 2002年 / 124卷 / 02期

关键词：

D O I：

10.1115/1.1469549

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a methodology for the Jacobian analysis of limited degrees-of-freedom (DOF) parallel manipulators. A limited-DOF parallel manipulator is a spatial parallel manipulator which has less than six degrees-of-freedom. It is shown that a 6X6 Jacobian matrix, which provides information about both architecture and constraint singularities, can be derived by making use of the theory of reciprocal screws, The 3-UPU and 3-RPS parallel manipulators are used as examples to demonstrate the methodology.

引用

页码：254 / 258

页数：5

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