基于运动学正解的三转动并联机构迭代补偿控制

首先建立三转动并联机构的运动学方程，研究该并联机构的运动学反解和运动学正解，然后建立该机构的动力学方程并分析其动力学特性．基于该机构研制了能复现自行武器行进时的车体姿态变化过程的动态模拟器试验台．该试验台利用运动学反解算法进行闭环控制，并采用基于运动学正解的开环迭代补偿控制算法修正姿态驱动信号，使试验台的响应逐渐逼近期望的姿态指令．测试表明该系统时域波形复现精度优于95%，验证了迭代补偿控制的有效性．

Iterative Compensation Control of 3-DOF Rotational Parallel Mechanism Based on Forward Kinematics

The kinematics equation of a 3-DOF (degree of freedom) rotational parallel mechanism is established, and the solutions of the inverse and forward kinematics are investigated. Then the dynamics equation of the robot is built, and the dynamics characteristics are analyzed. A dynamic simulator based on this mechanism is developed to simulate the vehicle posture changes of self-propelled weapons during moving. A closed loop controller based on inverse kinematics is used to control the simulator, and an open loop iterative compensation controller based on forward kinematics is developed at the same time to correct the posture driving signal and make simulator's response approximate the posture command gradually. Experiments show that the system precision is better than 95%, which validates the effectiveness of the iterative compensation control strategy.