CAJ | 학술논문

动力学模型是进行动力学特性分析的基础，同时也是实现机构高精度时实控制的前提。以一种新型驱动冗余并联机构为研究对象，采用Lagrange方程法建立了基于工作空间的动力学模型，并借助最小2范数法实现机构工作空间的非约束等效广义力到轴向驱动力的优化。由于机构动力学方程存在非线性和强耦合特性，计算量大，难以满足实时控制要求，为此，通过对机构各主要构件所引入的驱动力的分析，提出基于RBF神经网络误差补偿的动力学模型简化方案。仿真结果验证了所建模型的正确性和模型简化方法的有效性。
동역학모형시진행동역학특성분석적기출，동시야시실현궤구고정도시실공제적전제。이일충신형구동용여병련궤구위연구대상，채용Lagrange방정법건립료기우공작공간적동역학모형，병차조최소2범수법실현궤구공작공간적비약속등효엄의력도축향구동력적우화。유우궤구동역학방정존재비선성화강우합특성，계산량대，난이만족실시공제요구，위차，통과대궤구각주요구건소인입적구동력적분석，제출기우RBF신경망락오차보상적동역학모형간화방안。방진결과험증료소건모형적정학성화모형간화방법적유효성。
Dynamics plays an important role in the application of parallel mechanism, which is the key to analyze the dynamic characteristics and achieve high-precision operation. The inverse dynamic model for a novel redundantly actuated parallel mechanism is formulated in the task space using Lagrangian formalism and the driving force is optimized by utilizing the minimal 2-norm method. By investigating the contribution of each term in the dynamic model to the driving force, a simplified strategy of the dynamic model for real-time control application is presented, and the subsequent model error is compensated by adopting RBF neural network. Simulation results verify the correctness and effectiveness of the proposed dynamic model and simplified strategy.