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Dynamics Modeling and Redundant Force Optimization of Modular Combination Parallel Manipulator
A. M. Jiang; H. Han; C. Y. Han; S. He; Z. B. Xu and Q. W. Wu
2023
发表期刊Machines
卷号11期号:2页码:19
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.
DOI10.3390/machines11020247
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收录类别sci
语种英语
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文献类型期刊论文
条目标识符http://ir.ciomp.ac.cn/handle/181722/67551
专题中国科学院长春光学精密机械与物理研究所
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GB/T 7714
A. M. Jiang,H. Han,C. Y. Han,et al. Dynamics Modeling and Redundant Force Optimization of Modular Combination Parallel Manipulator[J]. Machines,2023,11(2):19.
APA A. M. Jiang,H. Han,C. Y. Han,S. He,&Z. B. Xu and Q. W. Wu.(2023).Dynamics Modeling and Redundant Force Optimization of Modular Combination Parallel Manipulator.Machines,11(2),19.
MLA A. M. Jiang,et al."Dynamics Modeling and Redundant Force Optimization of Modular Combination Parallel Manipulator".Machines 11.2(2023):19.
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