Abstract: To improve the actuation coordination of redundantly actuated parallel manipulator,a novel model-based driving force synchronous control method was proposed.With 6PUS+UPU parallel manipulator as the research object,the dynamics model was deduced based on virtual work principle,and the coordination mechanism of driving force under scheduled motion was analyzed.On the basis of force-position hybrid actuation,a driving force synchronous control method was proposed,and the control algorithm was designed with coordination mechanism.Simulation and prototype experiment were used to verify the proposed control method.

Key words: synchronous control, force-position hybrid control, redundantly actuated, parallel manipulator, dynamic model

摘要： 为了解决冗余驱动并联机构的驱动协调问题,提出一种基于模型的驱动力同步协调控制方法。以冗余驱动并联机构6PUS+UPU为研究对象,推导了该机构的动力学模型,并分析了预定运动轨迹下的机构驱动力协调机理;在力位混合驱动的基础上,提出一种驱动力同步协调控制策略,并设计了协调控制算法。通过仿真与样机实验,验证了所提方法的有效性。

关键词: 驱动力同步协调, 力位混合驱动, 冗余驱动, 并联机构, 动力学模型