A Novel Method for Jaccobian Matrix of 6PUS Parallel Mechanism

Xing Qiang Tan; Zhi Jiang Xie; Guo Yun Li

doi:10.4028/www.scientific.net/AMR.588-589.2162

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 588-589A Novel Method for Jaccobian Matrix of 6PUS...

A Novel Method for Jaccobian Matrix of 6PUS Parallel Mechanism

Abstract:

A new kind of parallel mechanism used for faster response and higher maneuverability test of wind tunnel is introduced. Based on static equilibrium analysis and screw theory, the static equilibrium equation of motion platform is established, and then kinematic Jaccobian matrix is achieved by use of force Jaccobian matrix. By means of kinematic Jaccobian matrix the singularity of 6_PUS parallel mechanism is analyzed and three kinds of singularity and their conditions are identified.

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Periodical:

Advanced Materials Research (Volumes 588-589)

Pages:

2162-2165

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.588-589.2162

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Online since:

November 2012

Authors:

Xing Qiang Tan, Zhi Jiang Xie, Guo Yun Li

Keywords:

Jaccobian Matrix, Parallel Mechanism, Screw Theory, Singularity

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References

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