摘要
在应用微分几何和黎曼度量分析串联机构动力学模型的基础上,结合并联机构的特点,推导了简单、统一的并联机构动力学模型,并将其投影到约束力和切向力方向,进而提出了并联机构的力/位置复合控制的控制算法。对一个二自由度平面并联机构的仿真结果表明,所提出的算法可有效控制约束内力、外力和末端位置。
This paper analyzed the dynamics of serial mechanism with Differential Geometry. Combining the feature of parallel mechanism, the dynamic model of parallel mechanism was introduced with unified style. The model was projected to constrained force direction and tangent force direction. Then the algorithm of hybrid position/force control for parallel mechanism was suggested. The effectiveness of the hybrid control strategy is proved by the simulation results of the approach with a 2- dof parallel mechanism.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2007年第11期1339-1342,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50475044)
广东工业大学青年基金资助项目
关键词
微分几何
并联机构
动力学
力/位置复合控制
differential geometry
parallel mechanism
dynamics
position/force hybrid control
