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项目负责人:姜洪洲(E-mail:jianghz@hit.edu.cn)依托单位:哈尔滨工业大学项目批准号:509750551.项目简介本项目从设计与控制两方面入手,就六自由度并联机构耦合特性分析、动态各向同性设计、模态空间控制等基础理论及关键技术展开研究。在设计方面,提出了基于频率特性的动态各向同性设计方法,使设计者在设计阶段就能够充分考虑结构参数、质量特性、阻尼特性对系统动态特性的影响,从而为解耦控制的设计留下了充足的发挥空间。在控制方面,提出了基
Project Leader: Jiang Hongzhou (E-mail: jianghz@hit.edu.cn) Relying on unit: Harbin Institute of Technology Project approval number: 509750551. Project introduction This project starts from the design and control aspects, and on the coupling characteristics of six-DOF parallel mechanism Analysis, dynamic isotropic design, modal space control and other basic theories and key technologies to conduct research. In the aspect of design, a dynamic isotropic design method based on frequency characteristics is proposed, which allows the designer to fully consider the influence of structural parameters, mass characteristics and damping characteristics on the dynamic characteristics of the system during the design stage, so as to design the decoupling control Under the full play space. In control, the proposed base