ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

The redundant actuation can reduce the instantaneous maximum driving force of the parallel mechanism and improve the carrying capacity effectively. However, the driving force coordination misallocation or the redundant driving force control error is over, not only can the above-mentioned functions not be realized, but even cause overlarge internal force leading to mechanism damage. Therefore, the 6UPS〖CD*2〗UPU parallel robot with redundant actuation is taken as an example, and the velocity and acceleration of the driving links, constraint link and moving platform were analyzed. Partial velocity and partial angular velocity were introduced to establish the system dynamic equation using Kane equation. The target of minimizing the instantaneous maximum driving force was proposed and the weighted least square method was used to distribute the driving force; driving force of each leg was obtained by numerical calculation under the condition of given trace. The mode that combination of DSP controller and motion controller was used to improve the real-time of driving force coordinate distribution, and then control of the redudant driving force was realized. The experimental results show that the instantaneous maximum driving force is obviously decreased, and the driving force distribution becomes more balanced under the influence of the redudant driving force. Consequently, the method and the strategy proposed are effective.