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以一种具有串并联混合结构的新型多轴振动台为对象,分析其速度雅克比矩阵的求解方法,解决了目前对该种混合结构机器人的雅克比矩阵解算方法较少的问题,得到了系统各部件之间的运动速度及加速度关系,为该类型的机构运动学及动力学分析奠定理论基础。
A new type of multi-axis vibrating table with series-parallel hybrid structure is taken as an object to analyze the solution of its velocity Jacobi matrix, which solves the problem of less Jacobi matrix solver for the hybrid structure robot. The relationship between the velocity and acceleration of each part of the system lays a theoretical foundation for the kinematics and dynamics analysis of this type of mechanism.