中文摘要：

冗余驱动可有效降低并联机构的最大瞬时驱动力，提高其承载能力，然而驱动力协调分配不当或冗余驱动力控制误差过大不仅使上述功能无法实现，甚至产生过大内力而对机构造成破坏。为此，以冗余驱动6PUS—UPU并联机器人为例，对驱动分支、约束分支和动平台的速度、加速度进行分析，引入偏速度和偏角速度，使用Kane方法建立系统的动力学方程。提出以最小化最大瞬时驱动力为目标，使用加权最小二乘法对驱动力进行协调分配，通过数值算例获得给定运动轨迹情况下各分支驱动力。采用DSP控制器和运动控制器相结合的方式提高驱动力协调分配的实时性，实现对冗余驱动力的控制。实验结果表明：在冗余驱动力作用下，瞬时最大驱动力明显降低，且驱动力分配更加均衡，证明了所提出的驱动力协调分配方法和冗余驱动力控制策略的有效性。

英文摘要：

A novel electro-hydraulic servo hub machine loading test bench for controllable pitch propeller （CPP） was presented. Thrust, rotational resistance, centrifugal force and rotary vane torque generated by CPP in water at different pitch, rotational speed and speed can be imitated through a multi-channel electric hydraulic force （torque） servo control system. The servo control system could apply static, dynamic, pulsating load or variable load according to a loading spectrum to the hub. A vertical structure was utilized for the loading system, with a massive disk as the foundation bed. The loaded hub was installed upside-down in the center of the disc. Finite element analysis for the key parts of test bench was conducted, as well as the frequency response analysis of electro-hydraulic servo loading system. The experiments demonstrated that the loading test bench could meet the variety of load requirements.