6-PUS/UPU并联机器人冗余驱动力控制仿真

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.