【摘要】 介绍了带冗余驱动器的平面并联操作手的两种结构,基于动力学方程分析了它们对不同的优化目标的输入力最优化问题.结果表明,加入冗余驱动,可明显降低并联操作手的驱动力更多还原

【Abstract】 Two kinds of planar parallel manipulators with redundant actuators are introduced. Based on dynamic equations, their actuating forces corresponding to different optimum targets are derived by using optimization methods. The results indicates that the actuating forces of parallel manipulators can be significantly reduced by redundant actuation.更多还原