摘要
基于并联六自由度机构的广义力数学模型,提出了基于单缸力小闭环和平台输出力大闭环的力控制方法.为了减小或消除平台运动位姿对力的影响,对各缸协同力控制及其影响因素等相关问题进行了分析,提出基于单缸位置补偿的力控制策略.建立了并联六自由度电液伺服机构单自由度力控制实验系统,并将所提出的力控制方法成功地应用于并联六自由度电液伺服机构的单自由度力控制实验.通过比较分析,总结出较为理想的并联机构力控制方法.
According to the generalized force mathematical model of 6-DOF parallel mechanism, a new force control method based on single force inner closed-loop and generalized force outer closed-loop was proposed. In order to reduce the influence of position error on the generalized force, some related problems about six struts＇ coordinated control and its correlative factors were analyzed, thus the control strategy based on single strut position compensation was presented. The single-DOF force loading experiment system was built up, on which the force control method was successfully realized. By analyzing and comparing the results of experiments, an available control method is finally generalized.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2007年第1期111-115,共5页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金资助项目(50375139)
关键词
并联六自由度机构
力控制方法
位置补偿
6-DOF parallel mechanism
force control method
position compensation
