| 两自由度冗余驱动并联机器人的研究 |
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| 引用本文： | 杨钢,傅晓云,李宝仁.两自由度冗余驱动并联机器人的研究[J].系统仿真学报,2006,18(2):416-419,423. |
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| 作者姓名： | 杨钢 傅晓云 李宝仁 |
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| 作者单位： | 华中科技大学FESTO技术中心,湖北,武汉,430074 |
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| 摘 要： | 提出了一种冗余驱动的具有两个转动自由度的新型空间并联机器人，以提高系统的稳定性，满足某水下运动模拟装置的要求。在对系统进行动力学分析并考虑消除内力的基础上，针对液压驱动并联机器人平台参数不确定及外界干扰的特点，设计了两层滑模的变结构控制器，采用Lyapunov方法进行控制律的选取。仿真试验表明了变结构控制算法对于系统控制的有效性和鲁棒性。
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| 关 键 词： | 并联机器人 冗余驱动 变结构控制 仿真 |
| 文章编号： | 1004-731X（2006）02-0416-04 |
| 收稿时间： | 2004-12-13 |
| 修稿时间： | 2004-12-132005-03-04 |
Research on 2-DOF Parallel Manipulator with Redundant Actuation |
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| YANG Gang,FU Xiao-yun,LI Bao-ren.Research on 2-DOF Parallel Manipulator with Redundant Actuation[J].Journal of System Simulation,2006,18(2):416-419,423. |
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| Authors: | YANG Gang FU Xiao-yun LI Bao-ren |
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| Abstract: | A 2-DOF parallel manipulator with redundant actuation was proposed to make the parallel structure more stable and meet the requirements of an underwater-simulated device. Based on the dynamic model and considering the distribution of the force on the actuated joints, a variable structure controller with two-folded sliding modes was designed for the manipulator, which was droved by hydraulic cylinders with uncertain parameters and disturbance. The control law was chosen based on Lvapunov stability theory. The effectiveness and robust of the ProPosed control are demonstrated bv simulations. |
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| Keywords: | parallel manipulator redundant actuation variable structure control simulation |
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