Jacobian Analysis on Closed-Loop Mechanisms
碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 99 === In this thesis direct Jacobian analyses are performed on the following two parallel manipulators for translating motion, which include kinematic cross-coupling analysis and input-output propensity analysis. The former analysis investigates how output velocity...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2011
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| Online Access: | http://ndltd.ncl.edu.tw/handle/48950037588112005718 |
| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 99 === In this thesis direct Jacobian analyses are performed on the following two parallel manipulators for translating motion, which include kinematic cross-coupling analysis and input-output propensity analysis. The former analysis investigates how output velocity may be affected by the input velocity, and the latter analysis discovers the degree of the output velocity is collinear with the input velocity. Results show that maximum values for direct kinematic cross-coupling index of the two manipulators occur at the center position of the workspace where a 120°-symmetry can be observed. Minimum values for input-output propensity index for two limbs occur at direct singular positions hidden within the workspace, where the Jacobain matrices for the moving platforms become singular.
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