| 基于加权矩阵的过驱动并联机构驱动力矩调节法 |
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| 引用本文： | 闫彩霞,闫楚良,陆震.基于加权矩阵的过驱动并联机构驱动力矩调节法[J].吉林大学学报(工学版),2008,38(5):1215-1219. |
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| 作者姓名： | 闫彩霞 闫楚良 陆震 |
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| 作者单位： | 1. 北京航空航天大学,自动化科学与电气工程学院,北京,100191
2. 中国农业机械化科学研究院,北京,100083 |
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| 摘 要： | 建立了一种平面三自由度过驱动并联机构的运动学方程,并基于虚功原理和等效力方法得出了其动力学模型。分析了过驱动机构动力学方程逆解问题的特点,提出用一种新的优化目标(即加权范数最小方法)来协调分配驱动力矩。将驱动器的额定输出力矩与实际工作力矩之间的差值定义为该驱动器的继容力矩,在此基础上给出了加权系数的选择准则。根据所提出的局部调节或全局调节准则来选择加权系数可以调节相应驱动器输出力矩,在一定程度上可以均衡各驱动器的继容力矩。数值计算结果表明,该方法对于防止部分驱动器输出力矩过大和保证系统稳定有一定的作用。
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| 关 键 词： | 自动控制技术 并联机器人 过驱动 驱动力矩调节 加权矩阵 |
Approach to coordinate driving torque of redundant actuated parallel manipulator based on weighted matrix |
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| YAN Cai-xia,YAN Chu-liang,LU Zhen.Approach to coordinate driving torque of redundant actuated parallel manipulator based on weighted matrix[J].Journal of Jilin University:Eng and Technol Ed,2008,38(5):1215-1219. |
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| Authors: | YAN Cai-xia YAN Chu-liang LU Zhen |
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| Affiliation: | 1.School of Automation Science and Electrical Engineering;Beijing University of Aeronautics and Astronautics;Beijing 100191;China;2.Chinese Academy of Agricultural Mechanization Sciences;Beijing 100083;China |
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| Abstract: | Taking over-actuated parallel manipulator with planar 3-DOF as subject investigated,it's kinematics equation was presented.Based on virtual work principle and Equivalent force theory,the dynamic model was built.Thereafter,the feature of redundant actuated parallel manipulator inverse solution was analyzed.To extend the system life,a new optimization objective was brought forward for force allocation coordinating,which is named minimum weighted norm approach.Moreover,the rule of weight coefficient selecting ... |
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| Keywords: | automatic control technology parallel manipulator redundant actuators driving torque coordination weighted matrix |
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