摘要
提出一种自均力冗余驱动接口模块 ,解决重载驱动中单驱动源所需功率过大、机械传动系统寿命过低的问题。该冗余驱动接口模块刚度好 ,且其中各驱动单元间的力均衡误差小 ,可避免使用成本高、算法复杂的力反馈控制技术。此外 ,驱动接口模块中均力杆受力小 ,因而均力机构轻巧。
A redundantly actuated interface module with force self-tuning mechanism was presented to halve the driving forces in heavy load mechanisms, so as to enhance service life of the mechanical driving units and decrease driving power of each servo motors. The force unevenness between two driving units of the interface module is so small that force feedback control technique is not needed. Moreover, the load of the link is quite small, so the force sharing mechanism in the interface module is very portable.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2004年第2期157-159,共3页
China Mechanical Engineering
基金
国家自然科学基金资助项目 (50 12 5516)
国家863高技术研究发展计划资助项目 (2 0 0 1AA42 12 80 )
关键词
冗余驱动
接口模块
自均力
力反馈控制
redundant actuation
interface module
force self-evening
force feedback control
