CAJ | 학술논문

以一种新型的含串联输入支链的四自由度并联机构为研究对象，针对该并联机构在动力学建模时存在的未建模环节以及机构在运动时所受到的外部干扰等诸多不确定性因素的影响，提出应用鲁棒控制律对并联机构动平台进行运动轨迹跟踪控制，并运用Simulink进行仿真实验验证。仿真实验结果表明：鲁棒控制律对诸多不确定因素所产生的最坏影响有很好的抑制作用，可确保机构对动平台目标运动具有较高的跟踪精度和较快的响应速度。
이일충신형적함천련수입지련적사자유도병련궤구위연구대상，침대해병련궤구재동역학건모시존재적미건모배절이급궤구재운동시소수도적외부간우등제다불학정성인소적영향，제출응용로봉공제률대병련궤구동평태진행운동궤적근종공제，병운용Simulink진행방진실험험증。방진실험결과표명：로봉공제률대제다불학정인소소산생적최배영향유흔호적억제작용，가학보궤구대동평태목표운동구유교고적근종정도화교쾌적향응속도。
A new series input containing branched 4 DOF parallel mechanism is researched. A robust control algorithm, aimed at many unmodelled parts exist while modelling the dynamics of the parallel mechanism and external disturbance come from outside, is proposed to apply to trajectory tracking of the moving platform of parallel mechanism. Using the Simulink to simulate, the simulation results certify that the algorithm can eliminate the worst influence comes from these uncertainties. It has much more responsive and better robustness on tracking the moving platform.