混合输入五杆机构的轨迹跟踪研究  

A Study on the Power Distribution of Trajectory Generation for Hybrid-driven Five-bar Mechanism

作　　者：陈正洪[1] 王勇[1] 李艳[1] 

机构地区：[1]山东大学机械工程学院

出　　处：《机床与液压》2007年第10期31-33,共3页Machine Tool & Hydraulics

基　　金：山东省自然科学基金资助项目(Y2002F13)

摘　　要：混合输入五杆机构系统是一种新型的可控机构,采用恒速电机和伺服电机作为驱动元,两种类型的运动通过一个五杆机构复合后,可得到柔性输出运动。本文对混合输入五杆机构进行了逆运动学分析和动力学建模。为了实现对连续时变轨迹的跟踪任务,该系统采用计算力矩控制算法对伺服电机的运动进行控制。对混合输入五杆机构实现直线轨迹进行了仿真研究,结果表明了逆运动分析和控制算法的有效性,得到了比较好的轨迹跟踪效果。Hybrid driving five-bar linkage mechanism is a new type of mechanism. A hybrid mechanism is a configuration that combines the motions of two characteristically different electric motors by means of a five-bar mechanism to produce programmable output. The analysis of inverse kinematics was made and the dynamics model of the mechanism was developed. In order to perform the time-variety successive trajectory tracking, the computed-torque control algorithm was applied to control the servo motor. The trajectory tracking of beeline was simulated with Matlab, and the law of power distribution of trajectory generation was got. The results show that the inverse kinematics and control strategy is effective, the tracking performance is very perfect.

关 键 词：混合驱动机构 轨迹跟踪 计算力矩控制法 

分 类 号：TH113[机械工程—机械设计及理论] TP241.2[自动化与计算机技术—检测技术与自动化装置]