Redundant actuation can effectively eliminate singularities in the task space of a parallel manipulator, but the drive force distribution is not unique because of the redundant actuation.
驱动冗余可有效消除并联机构在作业空间中的奇异位形,但其导致驱动力分配不唯一。
This paper studied a kind of planar 2-DOF parallel manipulator with actuation redundancy.
以一种平面2自由度冗余驱动并联机器人为研究对象,在已有文献对机构的空间模型、运动学方程、工作空间和运动学性能指标分析的基础上,提出了全域性能指标和局域性能指标的概念,讨论了各种局域性能指标之间的关系,并结合运动学性能指标,在各种性能指标综合最优的基础上进行了机构尺寸参数优化设计,优化出尺寸参数范围,并选取典型尺寸设计实际机器人机构;再利用实际机器人机构的各项全域性能指标值和局域性能指标在可达工作空间内的分布,首次提出了组装构型优化概念,在反解多的机器人机构设计中选择最佳反解组装构型。
The singularity of spatial parallel mechanism and its elimination using actuation redundancy are described.
对空间并联机构的奇异性和冗余驱动消除机构奇异进行了研究。
Actuation redundancy can improve the performance of manipulator.
由于冗余驱动可以改善并联机器人的性能,所以球面2-DOF冗余驱动并联机器人可以更好地完成球面2-DOF 5R并联机器人的工作任务。
Neuroendocrine-based intelligent control of a 6-DOF parallel robot with redundant drivers;
一种6自由度冗余驱动并联机器人的神经内分泌智能控制
Combined simulation research on the kinematics of serial-parallel robot with redundant drive;
冗余驱动串并联机器人运动学联合仿真
Modeling analysis and movement control of a 6-DOFs parallel robot with redundant drives;
一种6-DOF冗余驱动并联机器人模型分析与运动控制
Optimal design of parallel mechanisms with large tilting ability based on redundant actuation;
基于冗余驱动的大姿态角并联机构优化设计
Robust control of planar parallel robot with redundant actuation;
平面二自由度冗余驱动并联机器人的鲁棒控制
Dynamics and Control of a Planar Flexible Parallel Manipulator with Redundant Actuation;
带冗余驱动的平面并联柔性机械臂的动力学建模与控制
Analysis on output speed of parallel robot with planar 2-DOF actuation redundancy;
平面2自由度驱动冗余并联机器人的输出速度分析
Based on the spherical mechanism,a kind of spherical 2DOF parallel manipulators with actuation redundancy was presented.
提出了一种基于球面机构的二自由度驱动冗余并联机器人。
The Research in Motion Control of 2-DOF Redundantly Actuated Plane Parallel Manipulator;
平面2自由度驱动冗余并联机构运动控制研究
The Optimum Design and Dynamics of a Kind of Planar Robots with Actuation Redundancy;
一种平面驱动冗余机器人的优化设计及动力学研究
A new kind of parallel simulation platform with redundance actuation has been put forward.
提出一种新型冗余驱动并联模拟平台。
Theory of Singularity Elimination by Redundant Actuation for Parallel Mechanism
冗余驱动消除并联机构位形奇异原理
Optimal design of parallel mechanisms with large tilting ability based on redundant actuation
基于冗余驱动的大姿态角并联机构优化设计
Posture error analysis on the Cartesian coordinates serial-parallel robot with redundant drive
冗余驱动直角坐标串并联机器人位姿误差分析
Study on Control Strategy for 6-DOF Parallel Manipulator with Redundant Actuation;
六自由度冗余驱动并联机器人控制策略的研究
Control Study of 6-DOFs Parallel Manipulator with Redundant Actuation;
冗余驱动六自由度并联机器人控制策略研究
The Optimum Design of Srherical 2-DOF Parallel Manipulator with Actuation;
一种球面2-DOF冗余驱动并联机器人的优化设计
Error Analysis of a Parallel Simulator with Orthogonal Chains and Redundant Actuators
冗余电机驱动的正交并联模拟台误差分析
Distribution and coordination of driving force in the redundant driving system of free forging manipulator
自由锻造操作机冗余驱动系统的驱动力分配与协调
Theoretical and Experimental Study on the Dynamic Balancing of Elastic Mechanisms by Redundant Drives;
用冗余驱动方法进行弹性机构动力平衡的理论与实验研究
The Optimum Design and Dynamics Study of Spherical 2-DOF Parallel Manipulator with Actuation Redundancy;
球面2-DOF冗余驱动并联机器人机构的优化设计及动力学研究
Dynamics and Control of a Planar Flexible Parallel Manipulator with Redundant Actuation;
带冗余驱动的平面并联柔性机械臂的动力学建模与控制
Inner force control simulation and analyzing of actuation redundant shaking table based on virtual prototyping technology
虚拟样机技术的冗余驱动振动台内力控制仿真研究
Study on Orientation Singularity and Singularity-Avoidance of 6/6-Stewart Platform with Redundant Actuation;
6/6-Stewart机构姿态奇异与冗余驱动消除其奇异位形研究
Study on Error Analysis and Optimization of Two Freedom Redundancy-Driven Parallel Robot;
两自由度冗余驱动并联机器人的误差分析与优化
Some Foundation Issues Analysis of 5-DOF PMT with Redundant Actuation
冗余驱动五自由度并联机床的若干基础问题分析
