Dynamics Analysis and Control Strategy Research of More Redundantly Actuated Parallel Mechanism 2RPU+2UPR+RPR

doi:10.3901/JME.2024.11.237

Abstract

Abstract: Based on the redundant drive two turn a move 2RPU+2UPR+RPR parallel mechanism as the controlled object, using the virtual work principle is derived the dynamic model of the object, and based on the dynamic model of the multiple redundant driving parallel mechanism of the comparison of the various control strategies. The full text is divided into two categories: full force drive mode and force position hybrid drive mode. In full force drive mode, it is further divided into joint PID control and joint augmented PID control based on joint feedback, as well as generalized PID control, generalized augmented PID control, and calculated torque control based on motion platform generalized coordinate feedback. The advantages and disadvantages of the above control strategies are analyzed through simulation results; In the force position hybrid driving mode, two traditional force position hybrid control strategies were first introduced, and then a new driving force coordination control strategy was proposed. Through simulation verification, the proposed control strategy can coordinate the driving force of the position control joint to a certain extent.

Key words: parallel mechanism, redundant actuation, dynamics, coordinated control

CLC Number:

TP242

LIU Xiaofei, CHEN Ran, WAN Bo, GUO Mengtao, ZHAO Yongsheng. Dynamics Analysis and Control Strategy Research of More Redundantly Actuated Parallel Mechanism 2RPU+2UPR+RPR[J]. Journal of Mechanical Engineering, 2024, 60(11): 237-249.

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