并联机构动力学建模及控制研究

为了系统地研究并联机构动力学特性，分析了4种基本建模方法（牛顿-欧拉方法、直接拉格朗日方法、拉格朗日-达朗贝尔方法和虚功原理方法），总结了各种方法的优缺点。在此基础上，对动力学的3种控制算法（经典PD控制、机器人控制中常用的计算力矩控制以及数控加工中的先进轮廓控制）在并联机构上的应用进行了分析研究。针对开发的三自由度（3-DoF）纯平动并联机构Orthopod，采用拉格朗日-达朗贝尔方法进行了动力学建模，并对其进行了控制仿真。研究结果显示，轮廓控制在轮廓误差控制方面具有更好的性能，适合于雕刻机的控制应用。

Survey on dynamic modeling and control of parallel manipulators

In order to study the dynamic features of parallel manipulators,four methods,such as Newton-Euler formulation,direct Lagrange formulation,Lagrange-D' Alembert formulation and the virtual work,were analyzed.Advantages and shortcomings of those four formulations were concluded by a comparison.Three control strategies,such as PD control,computed torque control and contouring control,were researched for controlling of parallel manipulators.For demonstration purpose,the Orthopod of the 3-DoF purely translational...