四自由度, 影响系数矩阵, 性能指标, 并联机构

A spatial 4-DOF parallel manipulator was deduced in the event that the topology of parallel manipulator was changed. Based on the equation of position, the mapping analytic equation of velocity and acceleration was built by theoretical derivation, and simultaneously the first and second order influence coefficient matrixes were solved. Performance indexes of kinematics and dynamics were multianalyzed, and the factors that output perturbation affects the sensitivity of inputs perturbation were received. Taking different units into account, a matrix of Jacobian was detached, and then performance indexes of velocity, force, angular velocity and moment were analyzed in task workspace of the motion platform. A method of stratifiedly researching the matrix of Hessian was proposed in order to calculate perturbation of each limp differing in the degree in acceleration and inertial force performance indexes in task workspace of motion platform. The results provide theoretic proof for designing and optimizing the mechanism and choice of control strategy.