Abstract
The influence coefficient of mechanism is a very important concept in mechanics since it deeply reflects the essence of mechanism, and lots of analysis of mechanism become very simple and clear by using it. Based on the principle of rigid body kinematics, the influence coefficient of mechanism is investigated and the formulation for solving the influence coefficient of mechanism is given in the concept of moving coordinate system and pseudo converted velocity. The physical implication of the influence coefficient of mechanism is revealed and the conclusion that the influence coefficient is just dependent on the configuration of mechanism and has nothing to do with actual velocity of mechanism is distinctly verified. By using the above-mentioned method, the study on the kinematics of parallel robot is implemented and the technique of deriving Jacobian matrix of parallel robot is given.
| Original language | English |
|---|---|
| Pages (from-to) | 810-814 |
| Number of pages | 5 |
| Journal | Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology |
| Volume | 34 |
| Issue number | 6 |
| State | Published - Dec 2002 |
Keywords
- Influence coefficient
- Jacoban matrix
- Moving coordinate system
- Parallel robot
- Pseudo convected velocity
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