张兴,杨明星,王洪瑞

• 1:安徽工业大学机械工程学院
• 2:燕山大学工业计算机控制工程河北省重点实验室

摘要(Abstract)：

针对H4系列过约束混联机构，提出一种求解2×6 Jacobian约束矩阵和2×6×6 Hessian约束矩阵的方法。并以改进的2-(PUU)~2R过约束混联机构为例，进行运动学分析来验证提出方法的正确性。2-(PUU)~2R机构是由一个闭环2-PUU与R副串联形成的过约束混联机构。这里建立了该机构的位置反解数学模型，利用约束之间的相互关系，得到了机构的约束矩阵，并与运动矩阵建立机构的6×6的Jacobian矩阵和6×6×6的Hessian矩阵，求解了杆的速度和加速度。并通过ADAMS验证了模型的正确性，为此类混联机构的实际应用提供了理论依据。

关键词(KeyWords)： 过约束混联机构;运动学;Jacobian矩阵;Hessian矩阵

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金资助项目（61473112）;; 液压振动与控制教育部工程研究中心开放基金（HVC202001）

作者(Author): 张兴,杨明星,王洪瑞

DOI: 10.19356/j.cnki.1001-3997.20251222.018

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