为了完成新型五自由度4-虎克铰-移动副-球铰/虎克铰-移动副-虎克铰并联式坐标测量机机构的灵敏度分析,建立了该测量机机构的雅克比矩阵,并推导出了其无量纲雅克比矩阵,得到了该机构7个不同的灵巧度指标。在此基础上,定义了评价不同位形下灵巧度的综合灵巧度系数指标,并分别研究了不同灵巧度评价指标在工作空间内的分布规律。以上研究为该测量机机构的优化尺度综合和轨迹规划奠定了理论基础。%To complete the sensitivity analysis of a novel 5-Degrees of freedom 4-Universal joints-prismatic Pairs- Spherical joints/Universal joints-prismatic Pairs-Universal joints （4-UPS-UPU）Parallel Coordinate Measuring Ma- chine（PCMM）, the Jacobian matrix for this machine was established, and its dimensionless Jacobian matrix was de- rived. On this basis, seven dexterity indexes such as linear velocity dexterity index, angular velocity dexterity in- dex, force dexterity index, moment dexterity index, average conditional number, the smallest singular value and op- eration were obtained. By analyzing dexterity measures of PCMM, comprehensive dexterity coefficient which was used to evaluate the dexterity of various configurations was defined. And the distribution of different dexterity meas- ures in the workspace was analyzed respectively. The above researches provided important theoretical base of dimen- sional synthesis and trajectory planning for PCMM.
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