摘要
并联机构一般通过构件矢量法进行静力学分析,文中通过该方法分别在3-RSS/S并联机构的动平台、曲柄建立静力学平衡方程,从而得到动平台所受外力矩和3个曲柄所需输出力矩之间的数学关系,得出力雅可比矩阵,作为该机构力反馈控制的数学模型。通过力反馈控制实验,验证了并联机构的静力学分析模型可以作为低速条件下力控制的理论基础。
The statics analysis of parallel mechanism is generally carried out with component vector method,the static equilibrium equations were established on the moving platform and crank of 3-RSS/S parallel mechanism respectively by this method.Mathematical relationships between the suffered external torque of platform and the output torque required by three cranks are obtained,and the force Jacobian matrix was also be obtained,which is used as the mathematical model of the force feedback control of the mechanism.The force feedback control experiments verify that the statics analysis model of parallel mechanism can be used as the theoretical basis of the force control under low-speed conditions.
出处
《机械设计》
CSCD
北大核心
2013年第3期26-31,共6页
Journal of Machine Design
基金
天津职业技术师范大学科研启动基金资助项目(KYAD12002)
天津职业技术师范大学博士后科研启动基金资助项目(BSHKY12001)
天津市应用基础与前沿技术研究计划资助项目(12JCYBJC12900)
关键词
并联机构
构件矢量法
雅可比矩阵
力反馈
parallel mechanism
component vector method
Jacobian matrix
force feedback
作者简介
路光达（1978-），男，河北满城人，讲师，博士，主要研究方向：医疗康复机器人和智能控制，发表论文10余篇。
