| 一种新型两自由度柔性并联机械手的动力学建模和运动控制 |
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| 引用本文： | 胡俊峰,张宪民.一种新型两自由度柔性并联机械手的动力学建模和运动控制[J].机械强度,2011,33(5). |
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| 作者姓名： | 胡俊峰 张宪民 |
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| 作者单位： | 1. 江西理工大学机电工程学院,赣州,341000
2. 华南理工大学机械与汽车工程学院,广州,510640 |
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| 基金项目： | 国家杰出青年基金资助项目(50825504)~~ |
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| 摘 要： | 对一种新型两自由度柔性并联机械手的动力学模型和运动控制进行研究。首先,考虑刚—柔耦合影响,利用假设模态法和Lagrange乘子法,推导出系统的动力学方程,该方程为微分—代数方程组。为了设计控制器,采用坐标分块法将该微分—代数方程组化为二阶微分方程组。然后,根据机械手的控制要求,采用滑模变结构方法设计控制器,该控制器能跟踪所期望的运动轨迹,同时柔性构件的弹性振动得到抑制。仿真结果表明该控制器的可行性和有效性。
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| 关 键 词： | 并联机械手 柔性构件 滑模变结构控制 假设模态法 |
DYNAMIC MODELING AND KINEMATIC CONTROL OF A NOVEL 2-DOF FLEXIBLE PARALLEL MANIPULATOR |
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| HU JunFeng,ZHANG XianMin.DYNAMIC MODELING AND KINEMATIC CONTROL OF A NOVEL 2-DOF FLEXIBLE PARALLEL MANIPULATOR[J].Journal of Mechanical Strength,2011,33(5). |
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| Authors: | HU JunFeng ZHANG XianMin |
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| Affiliation: | HU JunFeng1 ZHANG XianMin2(1.School of Mechanical & Electrical Engineering,Jiangxi University of Science and Technology,Ganzhou,341000,China)(2.School of Mechanical & Automotive Engineering,South China University of Technology,Guangzhou 510640,China) |
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| Abstract: | For a novel 2-DOF(degree of freedom) flexible parallel manipulator,its dynamic model and kinematic control were studied.Taking into account the effect of rigid-flexible coupling,the dynamic equations of the system were derived by using assumed mode method and Lagrange multiplier method.It is a differential algebraic equations.In order to design a controller,the coordinate-partitioned method is used to convert the differential algebraic equations into a second-order differential equations.According to the de... |
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| Keywords: | Parallel manipulator Flexible part Variable structure control Assumed mode method |
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