对一种二自由度交错轮组机构进行运动学分析,运用运动学叠加原理求出其正解和逆解.利用Jacobian矩阵的条件数对其进行运动学性能评价,并开发了其控制系统,控制样机进行直线/圆弧插补几何作图、写字绘画等试验验证,试验结果证明了所建立模型的正确性.

对一种H形并联机构进行了运动学和动力学分析,求出了机构的自由度,运用叠加原理建立了机构的运动学逆解、速度和加速度模型.利用虚功原理建立了机构的反向动力学模型,在分析机械系统中各运动部件在虚位移下的广义力基础上,推导出其动力学方程.通过MATLAB与Adams联合仿真以及特性实验,验证了反向动力学模型的正确性.为相似并联机构的动力学分析和轨迹规划奠定了基础,也为少自由度并联机器人精确控制提供了理论支撑.

In order to solve the problem of current electric cylinder test system and test method can’t meet the requirements of electric cylinder performance test,a parameter measurement system is designed in the paper and it contains industrial computer as upper machine,and Leisai DMC5480 movement control card as center controller,and high precision magnetic grid ruler as detection device.Firstly,an open automatic test system and test method for electric cylinder and function test module are designed for the system.Then, combining with data detection device,by the VB and API function library,the paper designs open hardware structure and software platform for the system,which includes location accuracy,return error,repeat positioning accuracy,error analysis and compensation,and error analysis and compensation as well.The system has been successfully applied to the electric cylinder parameter measurement of a company.

Aiming at the problem of multi?cylinder synchronous motion of hydraulic system of large hydraulic machines, a solution to achieve the precision synchronous control by using a hydraulic numerical controller ( HNC) was put forward. The control principle, system hardware and software structure of the hydraulic test platform were elaborated. The normal operation of the hydraulic test plat?form was realized by this system, and the tested data was analyzed. The test results indicate that the application of HNC in the hydraulic control system has very high precision.

Through kinematic analysis of the H-shaped parallel mechanism,the degree of freedom was derived.The inverse and forward position model of this mechanism were established by employing kinematic superposition principle and the analytical solution was obtained.The condition number of Jacobian matrix was derived and the workspace was analysed.The result of the calculation shows that this mechanism had perfect isotropic properties and specious workspace.Further analysis of the inverse position solution adopting homogeneous transformation and matrix decomposition indicated that the trajectory between the input and output coordinate was geometrically similar.Based on that,a control strategy for fine interpolation only using general motion controller was proposed.A model machine was developed and a series of experiments were carried out,such as line/circle interpolation,continuous interpolation and etc.The results suggest that the mathematical model established for this parallel mechanism was correct.