关键词: 主动过约束, 力位混合控制, 动力学, 并联机构

Abstract: To deal with the actuation compatibility of active over-constraint parallel manipulator,a dynamic-based force-position hybrid control strategy was proposed.By taking 6PUS+UPU parallel manipulator as the research object,the whole manipulator dynamic model and the single limb dynamic model were deduced with the principle of virtual work according to the kinematic analysis,and the expected internal force of manipulator was also obtained.With the dynamic model,one kind of force-position hybrid control strategy based on force-position hybrid actuation was proposed,which took the manipulator's motion accuracy and internal force as control target.With the 6 PUS+UPU prototype as object,the control experiment was carried out and the experiment result was analyzed.Experiment result revealed that the proposed dynamics-based control strategy could improve the control accuracy on the internal force of this active over-constraint parallel manipulator,the compatibility of each branch actuations and the accuracy of manipulator's movements.

Key words: active over-constraint, force-position hybrid control, dynamics, parallel manipulator