Table 1 Verification of the Jacobian matrix
From: Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism
Institutional parameters of the initial configuration (°) | Tiny input θ21; θ61(°) | The theoretical value of Jacques φ, γ (×10-3 °/s) | The value of the CAD model ∆φ, ∆γ (×10-3 °/s) |
|---|---|---|---|
θ21 = 14 | 0.001 | 3.4397 | 3.4417 |
θ61 = 23 | 0.002 | − 0.3657 | − 0.3505 |
φ = 59.0786 | − 0.003 | 0.9701 | 0.8857 |
γ = − 4.7420 | 0.004 | − 3.6240 | − 3.6368 |
θ21 = 31 | 0.001 | − 1.1911 | − 1.2617 |
θ61 = 12 | − 0.002 | 1.5686 | 1.6108 |
φ = 64.9472 | − 0.003 | 1.4643 | 1.6035 |
γ = 9.2984 | 0.004 | − 3.5059 | − 3.5913 |