2010•Machine Building & AutomationRequires access

Jacobian Matrix Analysis of New Parallel Manipulator ROBO_003 Using Reciprocal Screw Theory

Hongtao Wu

Abstract

The reciprocal screw theory is applied to the study of the Jacobian matrix of a novel parallel manipulator called ROBO_003(3DOF).A simple way is used to get the reciprocal screw of the joint screw of a limb,and then the Jacobian constraint matrix,the Jacobian actuation matrix and the Jacobian overall matrix are obtained.These Jacobian matrices can derive the mapping between the motion speed of a moving platform and the speed of an actuation joint.The method can also be applied to the study of the Jacobian matrix of other 3 -DOF parallel manipulators.

About this research paper

What this paper is about

Why it matters

A significance statement is not available in the OpenAlex record.

Key contribution

A contribution statement is not available in the OpenAlex record.

Method / approach

Method details are not available in the OpenAlex metadata.

Main findings

Findings are not separately available in the OpenAlex metadata.

Limitations

Limitations are not available in the OpenAlex metadata.

Applications

Application details are not available in the OpenAlex metadata.

Available abstract

Key concepts: Jacobian matrix and determinant, Screw theory, Reciprocal, Matrix (chemical analysis), Constraint (computer-aided design), Mathematics, Control theory (sociology), Simple (philosophy)