高名旺,张宪民.RRR冗余并联机器人驱动力优化[J].农业机械学报,2014,45(1):301-305.
Gao Mingwang,Zhang Xianmin.Optimum of Driving Force for 4-RRR Redundant Parallel Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(1):301-305.
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RRR冗余并联机器人驱动力优化   [下载全文]
Optimum of Driving Force for 4-RRR Redundant Parallel Robot   [Download Pdf][in English]
投稿时间:2013-01-02  
DOI:10.6041/j.issn.1000-1298.2014.01.046
中文关键词:  冗余驱动 并联机器人 螺旋理论 逆动力学 驱动力优化
基金项目:国家自然科学基金资助项目(91223201)和中央高校基本科研业务费专项资金资助项目(2012ZP0004)
作者单位
高名旺 山东理工大学 
张宪民 华南理工大学 
中文摘要:为了在机构中实施内力控制,提出了一种基于功率优化的驱动力分配策略。首先,提出一种冗余平面并联机器人运动学和动力学分析的方法。用螺旋理论推导了机构雅可比矩阵,基于牛顿〖CD*2〗欧拉公式计算主元点的惯性力螺旋,用虚功原理构建动力学公式。然后,基于力优化,分别分析了4〖CD*2〗RRR机构和3〖CD*2〗RRR机构的驱动力,比较结果表明4〖CD*2〗RRR的驱动力峰值有所下降。最后,基于功率优化,对4〖CD*2〗RRR的内力和驱动力进行优化,得到了机构内力和驱动力的变化规律。
Gao Mingwang  Zhang Xianmin
Shandong University of Technology;South China University of Technology
Key Words:Redundant actuation Parallel robots Screw theory Inverse dynamics Driving force optimum
Abstract:An optimum strategy for driving force distribution, which can hold preload in the robot,was presented. First, an approach for the kinematic and dynamic analysis of redundant planar parallel robot was proposed. In this method, theory of screws was used to deduce the Jacobian matrix, and the Newton-Euler equation was used to calculate wrench of pivot points, and the principle of virtual work was sued to formulate the dynamic equation of motion. Then, the driving forces of 3-RRR and 4-RRR were optimized based on force optimization, respectively and the peak of driving force for 4-RRR is lower than that for 3-RRR. In the end, the internal preload and driving forces of the 4-RRR were optimized based on the power optimization and the variations rules of the driving forces and internal preload were obtained.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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