| 一种自均力冗余驱动接口模块 |
| |
| 引用本文： | 李为民,高峰.一种自均力冗余驱动接口模块[J].中国机械工程,2004,15(2):157-159. |
| |
| 作者姓名： | 李为民 高峰 |
| |
| 作者单位： | 河北工业大学并联机器人研究中心,天津,300130 |
| |
| 基金项目： | 国家自然科学基金资助项目 (50 12 5516)，国家863高技术研究发展计划资助项目 (2 0 0 1AA42 12 80 ) |
| |
| 摘 要： | 提出一种自均力冗余驱动接口模块，解决重载驱动中单驱动源所需功率过大、机械传动系统寿命过低的问题。该冗余驱动接口模块刚度好，且其中各驱动单元间的力均衡误差小，可避免使用成本高、算法复杂的力反馈控制技术。此外，驱动接口模块中均力杆受力小，因而均力机构轻巧。
|
| 关 键 词： | 冗余驱动 接口模块 自均力 力反馈控制 |
| 文章编号： | 1004-132X(2004)02-0157-03 |
A Redundantly Actuated Interface Module with Force Self-Evening |
| |
| Li WeiminGao Feng Hebei University of technology,Tianjin.A Redundantly Actuated Interface Module with Force Self-Evening[J].China Mechanical Engineering,2004,15(2):157-159. |
| |
| Authors: | Li WeiminGao Feng Hebei University of technology Tianjin |
| |
| Affiliation: | Li WeiminGao Feng Hebei University of technology,Tianjin,300130 |
| |
| Abstract: | A redundantly actuated interface module with force self-tuning mechanism was presented to halve the driving forces in heavy load mechanisms, so as to enhance service life of the mechanical driving units and decrease driving power of each servo motors. The force unevenness between two driving units of the interface module is so small that force feedback control technique is not needed. Moreover, the load of the link is quite small, so the force sharing mechanism in the interface module is very portable. |
| |
| Keywords: | redundant actuation interface module force self-evening force feedback control |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
