Analysis for Dynamics Performance Indices of 4-rr(rr)r Parallel Mechanism
نویسندگان
چکیده
The dynamics performance of 4-RR(RR)R parallel mechanism is analyzed by virtual mechanism method and global conditioning index, which includes Jacobian matrix and Hessian matrix in this paper. Furthermore, the performance indices atlas of velocity, acceleration and inertial force are given. When the acceleration performance index is analyzed, kHkkH−1k is compared with kGkkG−1k in order to find out which index has the most influence on acceleration performance. At the end of the paper the 4-RR(RR)R parallel mechanism is simulated by a model designed by Matlab software.
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تاریخ انتشار 2005