Dynamics Modeling and Redundant Force Optimization of Modular Combination Parallel Manipulator

doi:10.3390/machines11020247

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	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
刊名	Machines
	2023
卷号	11 期号:2 页码:19
DOI	10.3390/machines11020247
英文摘要	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.
URL标识	查看原文
语种	英语
内容类型	期刊论文
源URL	[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.