A Universal Calculation Method for Jacobian Matrix of Parallel Mechanism
The Jacobian matrix is a key concept in mechanisms and profoundly reflect the nature of the mechanism,which provides us not only a kinematics mapping relations,it also sets a basis for mechanism analysis and synthesis in the future.A universal calculation method for Jacobian matrix of parallel mecha...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.11.022 |
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| _version_ | 1841548709014274048 |
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| author | Zhang Shuangshuang Yang Hongtao |
| author_facet | Zhang Shuangshuang Yang Hongtao |
| author_sort | Zhang Shuangshuang |
| collection | DOAJ |
| description | The Jacobian matrix is a key concept in mechanisms and profoundly reflect the nature of the mechanism,which provides us not only a kinematics mapping relations,it also sets a basis for mechanism analysis and synthesis in the future.A universal calculation method for Jacobian matrix of parallel mechanism is presented based on screw theory.Due to its style of construction,tedious steps in normal calculation method,including observation and derivation are nicely avoided,which makes this new method much more simplified.Meanwhile,since its modularization in style,this method also provides its advantages in computer aided programming.A limited-DOF parallel manipulator 3-RPS is used as an example to testify the superiority of this method,which also set a good foundation for further performance analysis and design. |
| format | Article |
| id | doaj-art-eea5a8de81ca4f81bb90ea14f1369012 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-eea5a8de81ca4f81bb90ea14f13690122025-01-10T14:03:23ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139959729920134A Universal Calculation Method for Jacobian Matrix of Parallel MechanismZhang ShuangshuangYang HongtaoThe Jacobian matrix is a key concept in mechanisms and profoundly reflect the nature of the mechanism,which provides us not only a kinematics mapping relations,it also sets a basis for mechanism analysis and synthesis in the future.A universal calculation method for Jacobian matrix of parallel mechanism is presented based on screw theory.Due to its style of construction,tedious steps in normal calculation method,including observation and derivation are nicely avoided,which makes this new method much more simplified.Meanwhile,since its modularization in style,this method also provides its advantages in computer aided programming.A limited-DOF parallel manipulator 3-RPS is used as an example to testify the superiority of this method,which also set a good foundation for further performance analysis and design.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.11.022 |
| spellingShingle | Zhang Shuangshuang Yang Hongtao A Universal Calculation Method for Jacobian Matrix of Parallel Mechanism Jixie chuandong |
| title | A Universal Calculation Method for Jacobian Matrix of Parallel Mechanism |
| title_full | A Universal Calculation Method for Jacobian Matrix of Parallel Mechanism |
| title_fullStr | A Universal Calculation Method for Jacobian Matrix of Parallel Mechanism |
| title_full_unstemmed | A Universal Calculation Method for Jacobian Matrix of Parallel Mechanism |
| title_short | A Universal Calculation Method for Jacobian Matrix of Parallel Mechanism |
| title_sort | universal calculation method for jacobian matrix of parallel mechanism |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.11.022 |
| work_keys_str_mv | AT zhangshuangshuang auniversalcalculationmethodforjacobianmatrixofparallelmechanism AT yanghongtao auniversalcalculationmethodforjacobianmatrixofparallelmechanism AT zhangshuangshuang universalcalculationmethodforjacobianmatrixofparallelmechanism AT yanghongtao universalcalculationmethodforjacobianmatrixofparallelmechanism |