风洞试验绳牵引冗余并联机器人的刚度增强与运动控制

 以一种应用于低速风洞试验的6自由度绳牵引冗余并联机器人为研究对象，解决飞行器模型在风荷作用下动态定位误差大、力学测量精度不高的问题。运用微分变换推导了该机器人的刚度解析表达式；分别建立了末端执行器和驱动系统的动力学模型；针对系统冗余驱动、强耦合和非线性的特点，设计了基于刚度增强准则的关节空间比例微分（PD）修正前馈控制器，实现了以提高飞行器升力方向、顺风向和俯仰转动方向刚度为目标的绳系张力优化分配。数值仿真算例表明，与基于张力极小准则的控制器相比，前者有效地提高了飞行器的动态定位精度。

Stiffness Enhancement and Motion Control of a 6-DOF Wire-driven Parallel Manipulator with Redundant Actuations for Wind Tunnels

This article addresses the high dynamic positioning errors and poor force measurement precision of an aircraft model under the action of a wind load by means of a six degree-of-freedom wire-driven parallel manipulator with redundant actuations for low speed wind tunnels. First,an analytic expression of the stiffness of the manipulator is derived from the differential transformation principle. Then dynamic models of the end-effector and actuators are established,respectively. In view of the characteristics o...