平面三自由度并联机器人的等条件轨迹
The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators
摘要：
本文的研究对象是一类特殊的并联机器人。首先，我们分析了一个家庭的三个自由度的机械手。在关节速率矢量和笛卡尔速度矢量之间的运动学关系中出现了两个雅可比矩阵，称为“逆运动学“和“正运动学”矩阵。这些矩阵的奇异配置进行了研究。然后研究了各向同性配置的基础上的特征长度的这个机器人。计算所有雅可比矩阵的等条件轨迹，以定义一个全局性能指标来比较不同的工作模式。
英文摘要：
The subject of this paper is a special class of parallel manipulators. First, we analyze a family of three-degree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations between the joint-rate and the Cartesian-velocity vectors, which are called the "inverse kinematics" and the "direct kinematics" matrices. The singular configurations of these matrices are studied. The isotropic configurations are then studied based on the characteristic length of this manipulator. The isoconditioning loci of all Jacobian matrices are computed to define a global performance index to compare the different working modes.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
