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Velocity and Jacobian Analysis of Parallel Mechanisms

  • Xin-Jun Liu
  • Jinsong Wang
Chapter
Part of the Springer Tracts in Mechanical Engineering book series (SPTME)

Abstract

This chapter extends the study of parallel mechanisms from the position analysis to the velocity analysis. Each velocity equation is firstly obtained by differentiating the position equation with respect to time, and Jacobian matrix respecting the relationship between the input and output is further established. Several corresponding examples are illustrated.

Keywords

Velocity analysis Jacobian matrix Parallel mechanism 

Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Xin-Jun Liu
    • 1
  • Jinsong Wang
    • 1
  1. 1.Tsinghua UniversityBeijingChina, People’s Republic

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