摘要
分析冗余驱动并联机构的动力学方程可知,通过合理的分配各驱动器的输出力矩,可以避免部分驱动器过载,有效地延长机构的首次故障时间。从各驱动器的承受能力出发,提出输出裕度的概念,并据此构造了驱动力矩优化模型,以输出裕度来构造加权系数的选择准则,实现对各驱动器的单独调解。推导了输出裕度均衡及部分驱动器输出裕度取均值两种情况下的力矩分配方法,协调系统中各驱动器的承载情况。以一种平面3自由度过驱动并联机构为研究对象,数据计算及分析结果表明所提出的方法对于调节各驱动器输出裕度均衡及防止部分驱动器过载有一定的作用。
The analysis of the kinetic equation of over-actuated parallel manipulator showed that the partial actuator failure can be avoided by reasonably distributing torque output of each actuator,thus the first occurrence of failure can be deferred.The capacity of each actuator was discussed,and the concept of output margin was proposed.Then a drive torque optimization model was put forward.With the selection criteria of the weighted coefficient constructed from output margin,independent mediation of each drive was achieved.The torque distribution method under balanced output margin and mean output margin of partial actuator was conducted,so the loading of each actuator was coordinated.With a planar three DOF redundant actuated parallel manipulator,the result of calculation and analysis showed that the proposed method is helpful to regulate the balanced margin output of each actuator and thus prevent partial actuators from over loading.
出处
《四川大学学报（工程科学版）》
EI
CAS
CSCD
北大核心
2011年第2期217-221,共5页
Journal of Sichuan University (Engineering Science Edition)
基金
国际科技合作计划资助项目(2008DFA81280)
关键词
并联机器人
冗余驱动
加权系数
parallel manipulator
redundant actuation
weighted coefficient
