A Contrastive Study on the Force Analysis of the Active and Passive Overconstrained Parallel Mechanisms

摘要：

　　This paper reveals that the distinction between the statically indeterminate force problem of the active overconstrained parallel mechanisms (PMs),i.e.,the redundantly actuated PMs,and that of the passive overconstrained PMs is the displacement coordination condition.For the redundantly actuated PMs,the displacement consists of the input displacements of the actuators and the elastic deformations of the system.While for the passive overconstrained PMs,it just refers to the elastic deformations of the system.Besides,taking the typical 2RPR+P redundantly actuated mechanism as an example,the relationship between the input displacement and the driving force/torque of an actuator under the position and torque control modes are discussed.The results will provide an important theoretical guidance for the control of the redundantly actuated mechanisms.

关键词： Redundantly actuated PM Driving force distribution Passive overconstrained PM Force analysis Coordination condition

作者: Yundou Xu Wenlan Liu Jinwei Guo Yongsheng Zhao Jiantao Yao Bo Han

作者单位: Parallel Robot and Mechatronic System Laboratory of Hebei Province,Qinhuangdao 066004, Hebei, China; Parallel Robot and Mechatronic System Laboratory of Hebei Province,Qinhuangdao 066004, Hebei, China

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 537-545

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）