弹性变形条件下过约束并联机构的受力分析与动力协调研究

过约束并联机构作为一种特殊的并联机构，具有结构简单、精度高和刚度大的优点，在很多场合发挥了重要的作用。由于过约束并联机构力学问题很复杂，国内外对过约束并联机构力学问题进行系统研究的文献还非常少，尤其在弹性变形的条件下。本项目将在考虑系统弹性变形的条件下，对过约束并联机构（包括被动过约束并联机构、冗余驱动并联机构和冗余驱动过约束并联机构）的受力分析和动力协调进行深入、系统地研究：分析被动过约束并联机构的约束力螺旋和冗余驱动并联机构的驱动力螺旋与系统刚度的相关性，建立变形协调方程和系统刚度模型，求解被动过约束并联机构所有关节的约束反力，建立冗余驱动并联机构包含外载荷、系统刚度矩阵以及关节驱动力的统一动力协调模型。本项目还要对一定数量的典型过约束并联机构开展数值仿真研究，并基于本课题组自主研发的5-UPS/PRPU五自由度冗余驱动并联机床开展力/位混合控制实验研究，以有效检验理论分析结果。

As a special kind of parallel mechanism, the overconstrained parallel mechanism has the characteristics of simple structure, high accuracy and rigidity, which has played an important role in many cases. Since force analysis of the overconstrained parallel mechanism is very complicated, there are very few investigations on the force analysis of the overconstrained parallel mechanism at home and abroad, especially in the condition of system elastic deformation. In this project, force analysis and dynamic coordination of the overconstrained parallel mechanism (including the passive overconstrained parallel mechanism, the redundantly actuated parallel mechanism, and the redundantly actuated parallel mechanism) will be carried out thoroughly and systematically in the condition that system elastic deformation is taken into account. The correlation between overconstraint wrenches of the passive parallel mechanism and system stiffness, and that between actuation wrenches of the redundantly actuated parallel mechanism and system stiffness are investigated, deformation compatibility equations and system stiffness model are established, all joint reactions of the passive overconstrained parallel mechanism are solved, unified dynamic coordination model of the redundantly actuated parallel mechanism among external load, system stiffness matrix and joint actuated forces. Besides, numerical simulation study on a certain amount of typical overconstrained parallel mechanisms, and experimental investigation of the hybrid force/position control based on the self-developed five-DOF 5-UPS/PRPU redundantly actuated parallel machine tool are performed to test the results of theoretical analysis effectively.