解决冗余驱动并联机器人中交互力与内力的定义难题
Interaction Forces and Internal Loads in Parallel Manipulators with Actuation Redundancy
- 提出清晰定义交互力与内力的新方法
- 给出平衡与操控关节力矩的显式合成方案
- 纠正文献中错误结果，验证方法有效性
本文研究并联机器人的零空间力/力矩分量。针对抓取类系统中常见的两种表征方式——交互力与内力，分析其在具有驱动冗余的并联机器人中的适用性。识别现有文献中的关键疏漏，澄清交互力与内力定义的歧义，并提供显式的等效力矩与操纵力矩向量合成方法。通过案例研究验证新方法的有效性，修正文献中报道的错误结果。
原文摘要 · Abstract (English)
This paper discusses null-space wrench components in parallel manipulators. We examine the adaptation of the two most common characterizations of these components in grasp-like systems, namely, interaction forces and internal loads, to parallel manipulators with actuation redundancy. We identify critical oversights in the existing literature on the subject, resolve ambiguities related to the definitions of interaction forces and internal loads, and provide explicit methods for synthesizing equilibrating and manipulating joint torque vectors. A case study is also provided to justify the validity of our novel methods and correct erroneous results reported in the literature.
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