冗余驱动闭链弓形五连杆动力学建模与优化

研究了冗余驱动闭链弓形五连杆动态翻滚过程中驱动力矩协调分配的问题。建立了闭链弓形五连杆运动学分析模型，分别对驱动杆件和约束杆件的速度、加速度进行分析，得到各杆件的加速度矩阵和角加速度矩阵，进而得到各杆件的合力及力矩，从而获得该机构的牛顿-欧拉动力学方程。采用伪逆法对各驱动力矩进行协调分配,使瞬时驱动力矩2范数最小。给定机构动态翻滚过程的关节轨迹，分别计算非冗余驱动和冗余驱动方式下的驱动力矩，计算结果表明，冗余驱动方式可以显著减小最大瞬时驱动力矩。

Dynamics Modelling and Optimization for Closed Five-bow-shaped-bar Linkages with Redundant Actuation

The problem of the coordination and distribution of the driving torque during the dynamic rolling process of redundant drive closed five-bow-shaped-bar linkage was studied herein. The kinematics model of closed five-bow-shaped-bar linkage was established, the speed and acceleration of the driving links and constraint links were analyzed respectively, the acceleration matrix and the angular acceleration matrix of each link were obtained, the resultant forces and torques of each link were figured out, and the dynamics equation of the mechanism were obtained on the basis of Newton-Euler approach. Driving torques coordination was carried out with pseudo inverse method, so that the 2-norm of the instantaneous driving torque was minimal. The driving torques under non-redundant driving and redundant driving were calculated respectively according to the joint trajectories of the mechanisms during a rolling cycle. The calculation results indicate that redundant actuation may reduce the maximum instantaneous driving torque significantly.