TY - GEN
T1 - The model based on internal force space to reduce internal force
AU - Liu, Deshan
AU - Yang, Yu
AU - Yang, Chifu
AU - Gao, Changhong
AU - Han, Junwei
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/11/24
Y1 - 2015/11/24
N2 - The model based on Internal Force Space to reduce the internal force of super-redundant actuated parallel mechanism is put forward in this paper. The model is proposed to restrain the internal force in the redundant actuated parallel mechanism especially in super-redundant actuated parallel mechanism(SRPM) with long stroke, such as the Million Tons Tester's (MTT) horizontal redundant driving mechanism. It study a method to work out the internal force of redundant actuated parallel mechanism by using the result of the actuators' force vector and the Internal Force Space basis. Using the internal force as the feedback to regulate the servo values' control signals is proposed in this paper to reduce the redundant actuated parallel mechanism's internal force. Compared to traditional pressure stabilizing controller the model based on Internal Force Space has a better effect in reducing the internal force. At last, the joint simulation with MATLAB and ADAMS is built to test the model.
AB - The model based on Internal Force Space to reduce the internal force of super-redundant actuated parallel mechanism is put forward in this paper. The model is proposed to restrain the internal force in the redundant actuated parallel mechanism especially in super-redundant actuated parallel mechanism(SRPM) with long stroke, such as the Million Tons Tester's (MTT) horizontal redundant driving mechanism. It study a method to work out the internal force of redundant actuated parallel mechanism by using the result of the actuators' force vector and the Internal Force Space basis. Using the internal force as the feedback to regulate the servo values' control signals is proposed in this paper to reduce the redundant actuated parallel mechanism's internal force. Compared to traditional pressure stabilizing controller the model based on Internal Force Space has a better effect in reducing the internal force. At last, the joint simulation with MATLAB and ADAMS is built to test the model.
KW - Internal Force Space
KW - super-redundant actuated parallel mechanism
KW - the model reducing internal force
UR - http://www.scopus.com/inward/record.url?scp=84962499497&partnerID=8YFLogxK
U2 - 10.1109/FPM.2015.7337167
DO - 10.1109/FPM.2015.7337167
M3 - 会议稿件
AN - SCOPUS:84962499497
T3 - Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015
SP - 493
EP - 497
BT - Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Fluid Power and Mechatronics, FPM 2015
Y2 - 5 August 2015 through 7 August 2015
ER -