A new force sensing system of 6-dof parallel robot was proposed by integrating 6 pull-press sensors on the 6 linkages.
通过在6 -DOF(6自由度)并联机器人各个杆件上集成拉、压力传感器，组成了新型力感觉系统。
By means of guidance command decomposed forwardly, the combined control system is divided into two parallel subsystems: the aerodynamics subsystem and the direct force subsystem.
复合控制采用对制导指令进行前向分解的方法，将复合控制系统分为两个并行的子系统，即气动力控制子系统和直接力控制子系统。
The result shows that superfluous force is less in double valve parallel control system than that in single valve control system, and the precision of dynamic loading is increased.
仿真和实验结果表明：加载系统采用双阀并联控制比单阀控制的多余力明显减小，动态加载精度明显提高。
The result shows that superfluous force is less in double valve parallel control system than that in single valve control system, and the precision of dynamic loading is increased.
仿真和实验结果表明：加载系统采用双阀并联控制比单阀控制的多余力明显减小，动态加载精度明显提高。
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