中文摘要：

提出一种对称少自由度并联机器人雅克比方阵的建立方法.利用螺旋理论分析单个支链的结构,找出动平台对驱动关节的映射系数,根据不同的输入选取,对映射系数进行组合,去除映射系数矩阵中非独立运动参数对应的列,得到满秩的映射系数矩阵.对映射系数矩阵求逆,得到对称少自由度并联机器人的雅克比方阵,说明了运动输入与运动输出之间的对应关系,并得到实例验证.

英文摘要：

In this paper, a new method is presented for establishing Jacobian matrix of symmetrical Low-degree of freedom （DoF） parallel manipulators. The screw theory is employed for the structure analysis of single limb, and the mapping coeffieient relative to the active joint is found. Then the matrix of mapping coefficients can be reset according to the different combination of inputs. Some columns relative to dependent parameters can be taken out, and a matrix of mapping coefficients is obtained. Finally the square Jacobian matrix of symmetrical Low-DoF parallel manipulator is obtained by calculating the inverse mapping coefficient matrix, which reveals the input/output relation. Finally, an example is used to illustrate this method.