Dynamics Modeling and Redundant Force Optimization of Modular Combination Parallel Manipulator

被引：1

作者：

Jiang, Aimin ^{[1
,2
]}

Han, Hasiaoqier ^{[1
,2
]}

Han, Chunyang ^{[1
]}

He, Shuai ^{[1
]}

Xu, Zhenbang ^{[1
]}

Wu, Qingwen ^{[1
]}

机构：

[1] Chinese Acad Sci, Changchun Inst Opt Fine Mech & Phys, 3888 Dong Nanhu Rd, Changchun 130033, Peoples R China

[2] Univ Chinese Acad Sci, Ctr Mat Sci & Optoelect Engn, Beijing 100049, Peoples R China

来源：

MACHINES | 2023年 / 11卷 / 02期

基金：

中国国家自然科学基金;

关键词：

parallel manipulator; force optimization; module; dynamics; redundant drives; PSO; INVERSE DYNAMICS; MECHANISM;

D O I：

10.3390/machines11020247

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

The limb-driving force mutation of the modular combination parallel manipulator (MCPM) affects the alignment process of optical axis. In this paper, a novel optimization method based on the force mutation penalty term is proposed to solve the problem of driving force mutation. The kinematics and dynamics models of the manipulator are established using a modularization idea, reducing the complexity of the modeling process, and verified using co-simulation. Moreover, particle swarm optimization (PSO) is applied as an optimization tool. The effectiveness of the proposed method is confirmed by comparing it with the minimize-the-maximum and Moore-Penrose (M-P) methods, which are widely used to solve parallel manipulators with redundant drives.

引用

页数：19

共 50 条

[31] Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory
Gallardo-Alvarado, J.
Aguilar-Najera, C. R.
Casique-Rosas, L.
Perez-Gonzalez, L.
Rico-Martinez, J. M.
MULTIBODY SYSTEM DYNAMICS, 2008, 20 (04) : 307 - 325
[32] Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory
J. Gallardo-Alvarado
C. R. Aguilar-Nájera
L. Casique-Rosas
L. Pérez-González
J. M. Rico-Martínez
Multibody System Dynamics, 2008, 20 : 307 - 325
[33] Dynamic modeling and performance optimization of a 2-PRU-PPRC 2T1R redundant parallel manipulator
Shao, Hua
Zhang, Hua
Yan, Wei
2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019), 2019, : 951 - 956
[34] The dynamic modeling, redundant-force optimization, and dynamic performance analyses of a parallel kinematic machine with actuation redundancy
Jiang, Yao
Li, Tiemin
Wang, Liping
ROBOTICA, 2015, 33 (02) : 241 - 263
[35] Inverse dynamics Modeling of a three degrees of freedom parallel manipulator
Chen, H
Chen, WS
Xie, T
PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND MECHANICS 2005, VOLS 1 AND 2, 2005, : 676 - 680
[36] Kinematic Analysis and Design Optimization of 2UPR-2RPU Redundant Parallel Manipulator
S. Ramanababu
K. Ramji
Transactions of the Indian National Academy of Engineering, 2024, 9 (2) : 375 - 383
[37] Modelling and control of a parallel redundant manipulator with hydraulic actuators
Liu, Y.
Handroos, H.
Wu, H.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2006, 220 (I3) : 211 - 221
[38] Dynamic formulation and performance evaluation of the redundant parallel manipulator
Zhao, Yongjie
Gao, Feng
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2009, 25 (4-5) : 770 - 781
[39] Intelligent motion task planning of redundant parallel manipulator
Ogawara, Tomohiro
Nakazawa, Kazuo
JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing, 1999, 42 (01): : 203 - 209
[40] A LIE GROUP APPROACH TO THE MODULAR MODELING OF KINEMATICALLY NON-REDUNDANT PARALLEL MECHANISMS
Mueller, Andreas
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2019, VOL 6, 2020,

← 1 2 3 4 5 →