Smooth Reverse Motion Control of 6-DOF Hydraulic Parallel Robot

被引：0
|
作者：
Peng, Likun [1 ]
Chen, Jia [1 ]
Xing, Jifeng [1 ]
机构：
[1] Naval Univ Engn, Coll Power Engn, Wuhan, Peoples R China
来源：
PROCEEDINGS 2013 INTERNATIONAL CONFERENCE ON MECHATRONIC SCIENCES, ELECTRIC ENGINEERING AND COMPUTER (MEC) | 2013年
关键词：
hydraulic parallel robot; smooth reverse motion; LuGre model; hydraulic impact;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Hydraulic parallel robot is widely applied to motion simulators, whereas the smooth reverse motion of hydraulic parallel robot is quite significant to ensure the verisimilitude of simulators. The maximum static friction and dynamic friction were analyzed by using the LuGre dynamic friction model and Stribeck negative slope effect. The increased pressure caused by motion inertia and the pressure jump caused by asymmetric structure were derived, which both happen in the reverse motion of hydraulic parallel robot. Strategies including control method and structure design to smooth the reverse motion were proposed, and the validity was proved through experiment.
引用
收藏
页码：796 / 800
页数：5
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