摘要
以二自由度并联机构为研究对象,建立了广义坐标,进行了逆运动学分析,推导出了每个液压驱动器的位移、速度和加速度的计算公式;采用极点配置控制对并联机构的液压驱动系统进行了性能优化;对极点配置算法进行了C语言编程,应用Visual Studio和AMESim进行联合仿真,通过极点配置的控制使得并联机构的运动性能得到了提高。
Taking the 2-DOF parallel mechanism as the research object,the generalized coordinates are established,the inverse kinematics analysis is carried out,and the calculation formulas of displacement,velocity and acceleration of each hydraulic actuator are derived.The pole configuration control is used to optimize the performance of the hydraulic drive system of the parallel mechanism.The pole configuration algorithm is programmed in C language,and Visual Studio and AMESim are used for co-simulation.Through the control of pole configuration,the motion performance of the parallel mechanism has been improved.
作者
牛彪
梁全
单东升
NIU Biao;LIANG Quan;SHAN Dong-sheng(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China)
出处
《机械工程与自动化》
2021年第5期48-50,共3页
Mechanical Engineering & Automation
关键词
并联机构
逆解算法
性能优化
二自由度
parallel mechanism
inverse solution algorithm
performance optimization
2-DOF
