Dexterity Analysis of 6-dof 3-urps Parallel Mechanism
The kinematics analysis is carried out on a kind of 3-urps parallel mechanism (pm) with 6-dof.The positional inverse solution and Jacobean matrixes which is used to analyze the dexterity of mechanism are derived.Condition number is used as evaluating indicator of dexterity in this article,and its three-dimensional graphs are drawn when this mechanism in different attitudes.It is indicated that dexterity of moving is excelled than the rotary movements for this pm.The optimum dexterity can be obtained in the center of mechanisms workroom,which can be applied to further characteristic analysis and kinematic design of mechanisms.
Parallel mechanism Inverse solution Jacobean matrix Dexterity
Hong Li Yun Xiao Na Song
School of Mechanical Engineering,North China University of Water Resources and Electric Power,Zhengzhou 450011,China
国际会议
广州
英文
754-757
2012-11-16（万方平台首次上网日期，不代表论文的发表时间）