关键词: 自动控制技术, 并联机器人, 过驱动, 驱动力矩调节, 加权矩阵

Abstract: Taking overactuated parallel manipulator with planar 3DOF as subject investigated, it's kinematics equation was presented. Based on virtual work principle and Equivalent force theory, the dynamic model was built. Thereafter, the feature of redundant actuated parallel manipulator inverse solution was analyzed. To extend the system life, a new optimization objective was brought forward for force allocation coordinating, which is named minimum weighted norm approach. Moreover, the rule of weight coefficient selecting was deduced on the basis of the difference between rated torque and real value. With the partial or global rule selected, the output of corresponding actuator can be adjusted accordingly. Thus torque of each joint was balanced and over output was avoided. Therefore the overall performance will be improved. Data calculating and analysis indicate this approach can better prevent the overloading of partial actuators and greatly ensure the system stability.

Key words: automatic control technology, parallel manipulator, redundant actuators, driving torque coordination, weighted matrix