利用冗余支链驱动消减弹性并联机构振动

Reducing vibration of elastic parallel mechanism by the use of redundant supporting link drive

针对弹性并联机构的特点,提出加入冗余支链和冗余驱动的方法来消减弹性机构的振动。这种方法既保留了并联机构的驱动元件安装在固定位置的要求,避免奇异点,也能有效地减小末端执行器上的振动。文中介绍了冗余弹性并联机构的动力学分析方法,用简化的解法给出了仿真结果,说明了此种方法的有效性。

Aimed at the characteristics of elastic parallel mechanism, the method for reducing the vibration of elastic mechanism by adding redundant supporting link and redundant drive was proposed. This method not only retained the requirement to assembling the driving element of parallel mechanism at the fixed position for avoiding the singular point, but also could effectively decrease the vibration of the end executor. The dynamics analytical method of the redundant elastic parallel mechanism was introduced in this paper. The simulative result was presented by simplified solving method.