Dynamics Modeling and Redundant Force Optimization of Modular Combination Parallel Manipulator

doi:10.3390/machines11020247

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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.
DOI	10.3390/machines11020247
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收录类别	sci
语种	英语
引用统计
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
推荐引用方式 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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