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6-PUS/UPU并联机器人冗余驱动力控制仿真 预览 被引量:9

Simulation for redundant actuation force control of 6-PUS/UPU parallel manipulator
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摘要 针对一种新型6-PUS/UPU 5自由度并联机器人,进行了冗余力驱动控制研究。首先利用Pro/E软件对并联机器人进行了建模,然后利用Adams系统仿真软件对并联机器人进行了运动学和动力学仿真;提出了利用冗余力控制改善驱动力的方法,并得出了冗余驱动力对其他驱动力的影响矩阵。对比了非冗余驱动和冗余力驱动的结果。仿真结果表明该方法能够有效降低各驱动力的峰值,并使机器人运动过程中各驱动力的变化变缓,对改善驱动力有很大帮助。 Aiming at a novel five-degree-of-freedom 6-PUS/UPU parallel manipulator,the redundant actuation force control was studied.The 6-PUS/UPU parallel manipulator was modeled with the Pro/E software firstly.Kinematic and dynamic simulations were carried out with the Adams software for parallel manipulator.A method to improve the driving force by redundant actuation force control was proposed,and the influence matrix between the redundant actuation force and other driving forces was obtained by using this method.Besides,the redundant to the non-redundant actuating was contrasted.The simulation result showed that the peak value of each driving force could be reduced effectively and the driving forces changed slowly during the motion process by redundant actuating,which was of great help for improving the driving force.
作者 段艳宾 梁顺攀 李聪 赵永生 DUAN Yan-bin,LIANG Shun-pan,LI Cong,ZHAO Yong-sheng+(School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China)
出处 《计算机集成制造系统》 EI CSCD 北大核心 2011年第10期 2195-2201,共7页 Computer Integrated Manufacturing Systems
基金 河北省自然科学基金资助项目(E2009000387) 秦皇岛市科学技术研究与发展计划资助项目(201001A057)~~
关键词 并联机器人 力控制 ADAMS软件 影响系数矩阵 仿真 parallel manipulator force control Adams software influence matrix simulation
作者简介 段艳宾(1983-),男,河北灵寿人,博士研究生,研究方向:并联机床、机器人技术等,E—mail:duanyb@ysu.edu.cn; 梁顺攀(1976-),男,广东江门人,讲师,研究方向:并联机器人及控制技术等; 李聪(1985-),女,河北唐山人,硕士研究生,研究方向:并联机床、机器人技术等; 赵永生(1962-),男,吉林龙井人,教授,博士生导师,研究方向:机器人技术、传感器技术、并联机构等,E-mail:yszhao@ysu.edu.cn。
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