A New Expression to Construct Jacobian Matrix of Parallel Mechanism

摘要

Based on the velocity relationship between two points on the mobile platform, the new expression to construct the forward Jacobian matrix of parallel mechanism by its branched chains is deduced. This method is able to be used for the automatic generation of Jacobian matrix of parallel mechanism or hybrid mechanism, the correctness of presented method is validated by analyzing the planar 5R parallel mechanism. The multiply operations in the new expression are (36fp+6fa) times less than that in the Jacobian matrix deduced by Monsarrat and Gosselin in literature five while the flexible linkages are omitted by comparing two expressions.