Method for rapidly constructing Jacobi of less-degree-of-freedom parallel mechanism containing special branched chain structure
A technology with a branched chain structure and degrees of freedom, which is applied to manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as large amount of calculation, achieve the effect of reducing calculation amount and improving calculation efficiency
Inactive Publication Date: 2013-04-03
TONGJI UNIV
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Problems solved by technology
These methods need to rely on the reciprocal operation of the screw, the orthogonal operation, or expand into a virtual 6-DOF parallel mechanism, so the calculation is very large
Method used
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Embodiment 1
[0042] like figure 1 As shown, the branch chain of the parallel mechanism with few degrees of freedom contains a moving pair with a driver and two spherical pairs at its two ends, and the moving direction of the moving pair passes through the centers of the two spherical pairs.
[0043] like figure 2 As shown, the branch chain of the parallel mechanism with few degrees of freedom contains a moving pair with a universal drive, a ball pair and a universal pair at both ends, and the movement direction of the moving pair passes through the center of the ball pair and the center of the universal pair.
[0044] like image 3 As shown, the branch chain of the parallel mechanism with few degrees of freedom contains a moving pair with a driver and two universal joints at its two ends, and the moving direction of the moving pair passes through the centers of the two universal joints.
[0045] like Figure 4 As shown, the branch chain of the parallel mechanism with few degrees of f...
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The invention relates to a method for rapidly constructing Jacobi of a less-degree-of-freedom parallel mechanism containing a special branched chain structure. The method provided by the invention defines a series of special structural features of a branched chain, and part of Jacobi matrix of the less-degree-of-freedom parallel mechanism can be rapidly constructed by calculating driving force helix of a driven joint in the branched chain; and on the basis of the calculated binding force helix of the branched chain, the whole Jacobi matrix of the parallel mechanism can be obtained. According to the method, during the construction of the part of the Jacobi matrix, the helix arithmetic or the helix orthogonal arithmetic is not required, thereby significantly improving the computational efficiency of the part of the Jacobi matrix of the less-degree-of-freedom parallel mechanism; and by providing the binding force helix of the branched chain, the whole Jacobi matrix of the parallel mechanism can be rapidly obtained.
Description
technical field [0001] The invention relates to a Jacobian rapid construction method of a parallel mechanism with few degrees of freedom. Background technique [0002] A parallel mechanism with few degrees of freedom refers to a space parallel mechanism with less than 6 degrees of freedom; the speed, accuracy or stiffness analysis of a parallel mechanism with few degrees of freedom is more complicated than that of a parallel mechanism with 6 degrees of freedom. The Jacobian matrix, referred to as Jacobian, is used to describe the mapping relationship between the speed of each driving joint in the mechanism and the speed of the end effector. It is also an important tool for analyzing the accuracy and stiffness of parallel mechanisms. The computational efficiency of the Jacobian matrix plays an important role in the design and control of parallel mechanisms with few degrees of freedom. [0003] For the Jacobian structure of the 6-DOF parallel mechanism, the relationship betwe...
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IPC IPC(8): B25J9/00B25J9/16
Inventor 卜王辉陈茂林李梦如
Owner TONGJI UNIV