Dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool
Dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool
复制标题
DOI：
10.1017/s0263574708004529
复制
发表时间：
2009-01
期刊：
影响因子：
2.7
通讯作者：
Jun Wu;Jinsong Wang;Liping Wang;Tiemin Li
中科院分区：
文献类型：
--
作者：
Jun Wu;Jinsong Wang;Liping Wang;Tiemin Li
摘要本文讨论了五自由度混合机床冗余驱动并联机械手的动态模型和力控制。逆动力学模型是利用牛顿-欧拉方法推导的。采用最小二乘法对驱动力进行优化。基于运动学和动力学模型，冗余链由力模式控制，其他链由位置模式控制。冗余驱动的并联机械手被集成到五自由度混合机床中，该机床还包括具有平移自由度和旋转自由度的工作台。机器沿直线轨迹和圆弧轨迹运动的实验表明，机器具有良好的仿形性能。
SUMMARY This paper deals with the dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool. The inverse dynamic model is derived by using the Newton–Euler method. The driving force is optimized by the least-square method. Based on the kinematic and dynamic models, the redundant chain is controlled by force mode and other chains by position mode. The redundantly actuated parallel manipulator is incorporated into a 5-DOF hybrid machine tool which also includes a worktable with a translational DOF and a rotational DOF. The experiments wherein the machine moves along a straight-line trajectory and a circular trajectory show that the machine has a good contouring performance.