A Novel Method for Jaccobian Matrix of 6PUS Parallel Mechanism

Autor:	Zhi Jiang Xie, Guo Yun Li, Xing Qiang Tan
Rok vydání:	2012
Předmět:	State-transition matrix Mechanical equilibrium Mathematical analysis General Engineering Equations of motion Kinematics law.invention Matrix (mathematics) Classical mechanics Singularity law Screw theory Mathematics Wind tunnel
Zdroj:	Advanced Materials Research. :2162-2165
ISSN:	1662-8985
Popis:	A new kind of parallel mechanism used for faster response and higher maneuverability test of wind tunnel is introduced. Based on static equilibrium analysis and screw theory, the static equilibrium equation of motion platform is established, and then kinematic Jaccobian matrix is achieved by use of force Jaccobian matrix. By means of kinematic Jaccobian matrix the singularity of 6_PUS parallel mechanism is analyzed and three kinds of singularity and their conditions are identified.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::a1724a7bbac6608c4619559ef89e61c0 https://doi.org/10.4028/www.scientific.net/amr.588-589.2162 Zobrazit plný text záznamu