摘要
介绍一种两平移一转动并联机构及其在中医推拿方面的应用,从机构的位置反解出发求出该并联机构的雅可比矩阵,利用雅可比矩阵法系统地讨论了该并联机构的三类奇异位形,为该机构的实际应用提供理论依据。
A parallel mechanism with two translational and one rotational degree of freedom and its utility in Chinese massage were introduced. Jacobian matrix was obtained with the help of inverse solutions. Singularity configuration was discussed by using the method of Jacobian matrix. It provides a theoretical base for the practical uses of the mechanism.
出处
《机床与液压》
北大核心
2006年第10期10-12,共3页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(503707)
福建省高等学校科技项目(OAJ04231)
关键词
并联机构
串并联机器人
中医推拿
奇异位形
Parallel mechanism
Series- parallel manipulator
Chinese massage
Singularity configuration
