| 面向驱动力前馈控制的重载并联机构运动学及力学分析 |
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| 引用本文： | 郑轶雄,王宇晗,石璟.面向驱动力前馈控制的重载并联机构运动学及力学分析[J].机械设计与制造,2012(1):176-178. |
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| 作者姓名： | 郑轶雄 王宇晗 石璟 |
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| 作者单位： | 上海交通大学机械系统与振动国家重点实验室,上海,200240 |
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| 基金项目： | 国家"高档数控机床与基础制造装备"科技重大专项 |
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| 摘 要： | 针对驱动力前馈的力位并行控制的需要,对3-PRS-XY混合并联机构建立Z-X-Z欧拉变换描述的反向运动学模型,并进行速度规划,得到力位控制系统运动插补方法。基于整体能量分析模型及拉格朗日法对3-PRS并联机构进行空载工况下反向动力学建模求解,并通过与重载工况不同位姿的静力反解进行线性叠加得到计算力矩控制所需的驱动力前馈,通过仿真分析了重载下3-PRS并联机构运动学及驱动力的变化情况。
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| 关 键 词： | 并联机构 欧拉变换 拉格朗日法 运动学 动力学 |
Kinematics and dynamics analysis of overloaded parallel mechanism for forward feedback control of driving force |
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| ZHENG Yi-xiong
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WANG Yu-han
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SHI Jing.Kinematics and dynamics analysis of overloaded parallel mechanism for forward feedback control of driving force[J].Machinery Design & Manufacture,2012(1):176-178. |
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| Authors: | ZHENG Yi-xiong WANG Yu-han SHI Jing |
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| Affiliation: | Jing (State Key Laboratory of Mechanical System and Vibration,Shanghai Jiaotong University,Shanghai 200240,China) |
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| Abstract: | Specific to the requirement of force-position parallel control of driving force’s forward feedback,an inverse kinematics model for the 3-PRS-XY parallel mechanism is built based on Z-X-Z Euler transformation.Then speed plan is conducted to get a kinematics interpolation method of force-position control system.Based on the overall energy analysis model and Lagrangian method,the inverse dynamic model and solution for no-load 3-PRS parallel mechanism is done under idle condition,and the driving force’s forward feedback for computed torque control is obtained by linear superposition through inverse statics solution of different location and pose with overload condition.Afterwards the change of the driving force and Kinematics of the overloaded 3-PRS parallel mechanism is analyzed by simulation. |
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| Keywords: | Parallel mechanism Euler transformation Lagrangian method Kinematic Dynamic |
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