Aiming at the optimization of the driving force of the redundant driven parallel mechanism,a displacement coordination model of the redundant driven parallel mechanism was proposed,considering the elastic deformation of each driving arm and the dis-placement of the actuator.The mechanical properties of the three control methods of all-position control,hybrid position-force control and all-force control in redundant driven parallel mechanisms were studied.The correlations between driving force/torque,actuator dis-placement,external load and driving arm stiffness in each control method were analyzed.The influence law of input displacement and driving arm stiffness on force distribution under different control methods was revealed.Finally,through the experimental platform of the redundant driven parallel mechanism,the three control methods were verified,and the application of the three control methods under dif-ferent working conditions was discussed.
关键词
并联机构/位移协调/冗余驱动/力控制
Key words
parallel mechanism/displacement coordination/redundant driven/force control
维普
万方数据