冗余驱动并联机构受力特性的控制方法研究  

Research on Control Methods for the Force Characteristics of Redundant Driven Parallel Mechanisms

作　　者：邱炎儿[1] QIU Yaner(Department of Physics and Electronic Information Engineering,Lyuliang University,Lyuliang Shanxi 033001,China)

机构地区：[1]吕梁学院物理与电子信息工程系,山西吕梁033001

出　　处：《机床与液压》2024年第8期46-53,共8页Machine Tool & Hydraulics

基　　金：山西省基础研究计划(自由探索类)项目(20210302124522)。

摘　　要：针对冗余驱动并联机构的驱动力优化,提出冗余驱动并联机构的位移协调模型,该模型考虑了各驱动臂的弹性变形和执行机构的位移。研究全位置控制、混合位置/力控制和全力控制3种控制方法在冗余驱动并联机构的力学特性,分析每种控制方法中驱动力/力矩、作动器位移、外载荷和驱动臂刚度之间的相关性,揭示了不同控制方法下输入位移和驱动臂刚度对力分布的影响规律。最后通过冗余驱动并联机构的实验平台,对3种控制方法进行了验证,并探讨了3种控制方法在不同工况下的应用。Aiming at the optimization of the driving force of the redundant driven parallel mechanism,a displacement coordination model of the redundant driven parallel mechanism was proposed,considering the elastic deformation of each driving arm and the displacement of the actuator.The mechanical properties of the three control methods of all-position control,hybrid position-force control and all-force control in redundant driven parallel mechanisms were studied.The correlations between driving force/torque,actuator displacement,external load and driving arm stiffness in each control method were analyzed.The influence law of input displacement and driving arm stiffness on force distribution under different control methods was revealed.Finally,through the experimental platform of the redundant driven parallel mechanism,the three control methods were verified,and the application of the three control methods under different working conditions was discussed.

关 键 词：并联机构 位移协调 冗余驱动 力控制 

分 类 号：TH112[机械工程—机械设计及理论]