中文摘要：

以球面2-DOF冗余驱动并联机器人为研究对象,进行力/位混合控制仿真及实验研究。首先在工作空间内对该机器人末端轨迹进行了运动规划,其次,基于Sim Mechanics与Simlink搭建了机器人系统力/位混合控制仿真模型,并通过数值算例,验证了该方法的正确性与可行性。最后基于仿真结果对样机进行力/位混合控制实验,验证了冗余驱动分支输入通过驱动力优化得到的驱动力矩时,能最大限度减小非冗余分支的驱动力矩,使三个分支驱动力矩更加均衡。

英文摘要：

The simulation and experimental research of hybrid control of force/position is studied for spheriacl 2-DOF redundantly actuated parallel robot. Firstly, the motion planning for the trajectory of the robot end is completed in the robot workspace. Then the simulation model of hybrid control of force/position for the robot system is built based on SimMechanics and Simlink, and the feasibility and correctness of the methode is verified by numerical example. Lastly, the control experiment of the prototype is completed based on the simulation results, it＇ s verified that the driving torque of the non-redundant branch is decreased and the driving torques of the three branch is more balanced when the input torque of the redundant branch is obtained by the driving torques optimization.