Title :
A Novel Method for Jacobian Analysis of Lower-Mobility Parallel Mechanism
Author :
Zhu, Sijun ; Huang, Zhen
Author_Institution :
Robotics Res. Center, Yanshan Univ., Qinhuangdao
Abstract :
This paper presents a method for the forward/reverse velocity analysis of N-DoF (N<6) parallel manipulator which is developed from kinematic influence coefficient method (KIC). With this method, a 6timesN Jacobian will be achieved for an N-DoF parallel manipulator. The selection of an instantaneous coordinate frame for a configuration of the mechanism is the key of this method. In the instantaneous coordinate frame, there are 6-N zero components in the velocity vector of end-effector. Similar with the KIC method, the method has uniform formulas, which is convenient for programming. In the rear part of the paper, a 4-DoF 4-RURR mechanism is taken as the mechanism example
Keywords :
Jacobian matrices; end effectors; manipulator kinematics; 4-DoF 4-RURR mechanism; 6-N zero components; Jacobian analysis; N-DoF parallel manipulator; end-effector velocity vector; forward-reverse velocity analysis; instantaneous coordinate frame; kinematic influence coefficient method; lower-mobility parallel mechanism; End effectors; Fasteners; Intelligent robots; Jacobian matrices; Machining; Manipulators; Parallel robots; Performance analysis; Robot kinematics; Jacobian; kinematic influence coefficient; lower-mobility; parallel manipulator; velocity analysis;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282494
