雅可比行列式

When the actuated joint was rotary actuation, kinematic Jacobian matrix of the manipulator was a diagonal matrix. So it was an uncoupled mechanism. As the actuated joint was linear one, Jacobian matrix of the manipulator was an identity 3×3 matrix and its determinant was equal to one. Manipulator, therefore, was singularity-free fully-isotropic throughout the entire workspace.

当以转动输入为主驱动时，运动雅可比矩阵为3×3阶对角阵，故机构为无耦合并联机构；当以移动为主驱动时，雅可比矩阵为3×3阶单位阵，且其行列式的值为1，所以在整个工作空间内机构表现为无奇异完全各向同性。

A new method is presented for choosing reconstructed parameters.we refer to the method as Jacobian determinant method.

提出了一种新的确定重构的嵌入参数的方法：雅可比行列式方法。

Do you know, i need you to come back

你知道吗，我需要你回来

Yang yinshu、Wang xiangsheng、Li decang,The first discovery of haemaphysalis conicinna.

1〕 杨银书，王祥生，李德昌。安徽省首次发现嗜群血蜱。