| 混合驱动平面二自由度五杆机构运动性能分析 |
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| 引用本文： | 严慕容. 混合驱动平面二自由度五杆机构运动性能分析[J]. 农机化研究, 2004, 0(5): 120-122,125 |
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| 作者姓名： | 严慕容 |
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| 作者单位： | 华南农业大学,工程学院,广东,广州,510642 |
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| 摘 要： | 对混合驱动二自由度平面五杆机构基于输入输出速度的雅可比矩阵进行了解析推导；在此基础上，分析了机构奇异位形条件。通过雅可比矩阵的条件数，分析机构输出运动的灵巧性。并基于上述方法给出算例的仿真结果。为提高混合驱动平面二自由度五杆机构的控制性能、优化机构设计提供理论依据。
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| 关 键 词： | 机械设计 五杆机构 分析 雅可比矩阵 奇异性 条件数 |
| 文章编号： | 1003-188X(2004)05-0120-03 |
The Kinematics and Mechanical Characteristic Analysis of Two-DOF Planar Five-Bar Mechanism |
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| YAN Mu-rong. The Kinematics and Mechanical Characteristic Analysis of Two-DOF Planar Five-Bar Mechanism[J]. Journal of Agricultural Mechanization Research, 2004, 0(5): 120-122,125 |
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| Authors: | YAN Mu-rong |
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| Abstract: | The Jacobian relating the input speeds with the output s peeds off a two-DOF is deduced. Based on velocity Jacobian matrix, two kinds of singular positions were discovered, and their characteristics were discussed respectively. The flexibility of the mechanism is analyzed by the condition number of Jacobian matrix. It gave a case in which the condition number is simulated. The relationship between design parameters of the mechanism and the condition number of Jacobian matrix is analyzed from the kinematic viewpoint. The results are useful to the design and control of two- DOF planar five-bar mechanism. [ |
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| Keywords: | machinery design five-bar mechanism analysis jacobian singularity condition number |
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