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。
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