摘要
通过建立Delta机构的空间模型,将机构尺寸抽象化处理,用向量法和导数法求取Delta机构的雅可比矩阵表达式,并以机构条件数分布及奇异形位分析来进行参数优化研究。
By establishing the spatial model of Delta mechanism,the dimension of the mechanism is being abstracted.The Jacobian matrix expression of Delta mechanism is obtained by vector and derivative method,and the parameter optimization is studied by condition number distribution and singular configuration analysis.
作者
施勇猛
SHI Yong-Meng(Minnan University of Science and Technology,Shishi Fujian 362700,China)
出处
《机电产品开发与创新》
2019年第1期58-60,共3页
Development & Innovation of Machinery & Electrical Products
关键词
并联机构
DELTA
参数优化
雅可比矩阵
条件数
parallel mechanism
Delta
parameter optimization
jacobian matrix
condition number
