Singularity and Dexterity Analysis of the test Tilter for the Optical Landing Aid System

摘要：

　　According to the kinematics equation of the test tilter for the optical landing aid system,the velocity Jacobi matrix of the tilter is established.The determinant and the condition number of Jacobi matrix based on the numeric analysis in the preset workspace,as the evaluating indicator of the singularity and the dexterity.Simulation result indicates that there is no singularity in the tilter workspace because the determinant of the matrix is not equal to zero,and the tilter has higher rotary dexterity due to the smaller condition number of the rotational velocity Jacobi matrix.At the same time,the tilter has isotropy and the best dexterity in the vertical motion direction due to the condition number of the linear velocity Jacobi matrix is equal to 1.

关键词： Jacobi matrix Determinant Condition number Singularity Dexterity

作者: Wang Hai-Dong Sun Jing Ji Gang Bi Yu-Quan

作者单位: Qingdao Branch of Naval Aeronautical Engineering Institute, China

会议类型: 国际会议

会议名称: 2015 International Conference on Mechanical, Electronics and Information Technology Engineering(ICMITE2015)(2015机械、电子与信息技术工程国际会议)

会议地点: 重庆

会议语种:英文

页码: 22-25

在线出版日期: 2015-03-21（万方平台首次上网日期，不代表论文的发表时间）