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3PRS/UPS冗余并联机床力控制系统研究 被引量：2

Research on the Force Control System of 3PRS/UPS Parallel Machine Tools
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摘要 提出了一种冗余驱动的3PRS/UPS并联机床。为实现该机床的柔顺运动,构建了基于冗余支链的力控制系统,设计了基于PMAC运动学的力控制系统实现方法。实例分析了力控制实现的方法,表明该方法适用于冗余系统的力控制,并且简单可行、易于实现。 A new type of 3PRS/UPS parallel machine tool with actuation redundancy has been designed.The paper developed a force control system based on the force control of redundant leg to realize the harmonious motion of the legs.Through the analysis of the kinematics theory of Turbo PMAC,a method of force control is put forward based on kinematics which is simple,feasible and easy to control,realize and modify.
作者 梁辉 黄顺 陈五一
机构地区 青岛科技大学机电工程学院 北京航空航天大学机械工程及自动化学院
出处 《青岛大学学报（工程技术版）》 CAS 2010年第3期71-74,83,共5页 Journal of Qingdao University(Engineering & Technology Edition)
基金 国家自然科学基金资助项目(50375010) 新乡市科技发展计划项目资助(09G010)
关键词 冗余 并联 力控制 redundant parallel force control
分类号 TG666 [金属学及工艺—金属切削加工及机床]
  • 相关文献

参考文献6

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  • 2Liu Guanfeng, Wu Yulie,Wu Xuezhong, et al. Analysis and Control of Redundant Parallel Manipulators[J]. Proceedings of the 2001 IEEE International Conference on Robotics & Automation, 2001 (4): 3748- 3754.
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  • 4Liang Hui, Bai Zhifu, Chen Wuyi. Improving Accuracy of PKMs by Active Force Control of Redundant Leg[C]//Proceedings of the 7th International Conference on Progress of Machining Technology. 7th ICPMT. Beijing: Aviation Industry Press, 2004:587-592.
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二级参考文献18

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共引文献14

同被引文献15

  • 1程强,师忠秀,杨倩.含间隙平面连杆机构的运动精度概率分析[J].青岛大学学报（工程技术版）,2005,20(2):67-70. 被引量：3
  • 2梁辉,白志富,陈五一.一种驱动冗余并联机床的铰链间隙误差分析[J].机床与液压,2006,34(6):7-9. 被引量：7
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引证文献2

二级引证文献6

青岛大学学报（工程技术版）
2010年 第3期

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