کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5007018 1461558 2017 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Torque-balancing algorithm for the redundantly actuated parallel mechanism
ترجمه فارسی عنوان
الگوریتم متعادل کننده گشتاور برای مکانیزم موازی به کار برده شده
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
چکیده انگلیسی
In this work, a joint torque distribution algorithm of parallel mechanism (PM) with one redundant actuator is suggested. The algorithm is effective in avoiding the joint torque saturations. In the algorithm, the force equations are modified into the line equations representing the joint torque solutions. Then, the optimal joint torque distribution is found only by searching the intersections among the line equations. A comparative study of the suggested algorithm with the other typical actuator redundancy resolution algorithms, such as the minimum-norm (MN) torque algorithm, the weighted MN torque algorithm, and a task-priority algorithm, is conducted through simulations and experiments with a 3-DOF planar PM with one actuator redundancy. The simulations and experiments confirm that the suggested redundant actuation algorithm shows an enhanced performance in terms of joint torque limit avoidance and minimum output force/torque distortion over other preexisting algorithms.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 42, April 2017, Pages 41-51
نویسندگان
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