并联机构驱动力优化配置方法及应用研究

Optimal Allocation Method of Parallel Mechanism and Its Application

驱动冗余作为机构驱动力优化配置的一种有效手段,它的输入力大小以及冗余方式会对并联机构主驱动力有较大的影响。基于虚功原理建立了驱动冗余情形下的动力学方程,采用最小二范数解作为冗余驱动的输入。并以Z3并联动力头为例,理论推导和计算了其在单冗余驱动与多冗余驱动下主驱动力的大小,分析了不同冗余方式对主驱动力配置的影响。最后,将理论解算得到的冗余驱动力作用在仿真计算环境中进行仿真验证,结果证明该方法对主驱动力优化配置的有效性和可靠性。

Actuation redundancy is an effective way for optimal allocation of driving forces.The way of redundancy and input force intensity have significant influence on basic diving forces of parallel mechanism.Based on the principle of virtual work,the dynamic equation under actuation redundancy is established,and least square solutions are used as the inputs of redundant actuators.The Z3parallel power head is used as an example where the basic driving forces under single actuator redundancy and multi-actuator redundancy are theoretically derived and calculated.Influence under different redundancy mode is analysed.Besides,a simulation prototype is built with the theoretical solutions serving as redundant driving force.The results verify the reliability and validity of optimal allocation of basic driving force based on the proposed method.