论文部分内容阅读
驱动冗余可有效消除并联机构在作业空间中的奇异位形,但其导致驱动力分配不唯一。该文针对一台4自由度的冗余并联机床进行了驱动力解析。在运动学分析基础上,得到各支链的偏速度矩阵及偏角速度矩阵,解算各支链的合力/力矩,利用虚功原理建立了该机构的逆动力学方程,并将其变换为线性格式,然后针对驱动冗余的特点,对驱动力分别进行了力优化及能耗优化,其中,力优化计算简单,而能耗优化可降低最大驱动力。该模型适用于冗余并联机构的动力学参数辨识以及动力学控制。
Driven redundancy can effectively eliminate the singularity of the parallel mechanism in the work space, but it leads to the non-uniform distribution of driving force. This paper analyzes the driving force of a 4 DOF redundant parallel machine tool. Based on the kinematic analysis, the bias velocity matrices and the angular velocity matrices of each branch are obtained, the resultant force / moment of each branch is calculated, and the inverse kinematics equation of the mechanism is established using the principle of virtual work, which is transformed into Linear format, and then for the characteristics of driving redundancy, respectively, for the driving force optimization and energy optimization, of which, optimization of the force calculation is simple, and energy consumption can reduce the maximum driving force. The model is suitable for dynamic parameter identification and dynamic control of redundant parallel mechanism.