CAJ | 학술논문

对于少自由度的并联机构，基于它在运动时受到的约束力和约束力矩。给出了约束力／约束力矩的判断准则。并推导出了少自由度并联机构统一的雅可比矩阵和 Hession矩阵。最后，应用所推导理论，对3-RPS并联机构进行运动学分析。为少自由度并联机构的静力学、动力学解析提供了统一的运算依据。
대우소자유도적병련궤구，기우타재운동시수도적약속력화약속력구。급출료약속력／약속력구적판단준칙。병추도출료소자유도병련궤구통일적아가비구진화 Hession구진。최후，응용소추도이론，대3-RPS병련궤구진행운동학분석。위소자유도병련궤구적정역학、동역학해석제공료통일적운산의거。
A unified and simple approach is proposed for solving inverse/forward velocity and accelera-tion of the limited-dof with linear active legs.a general PKM with n active legs is constructed.the poses of the constrained wrench are determined and the formulae for solving auxiliary Jacobian/Hessian matrices are derived.some formulae are derived for solving the general velocity/accelera-tion,the 6×6 Jacobian matrix and the6×6×6Hessian matrix.Finally,the solving procedure is il-lustrated by applying it to a 3-SPR.