Abstract To solve the problem that the distribution of the active joints' drive force was not unique due to the redundant actuation, the parallel inverse dynamic of the 4SPS/S(4-spherical joint-prismatic joint-spherical joint/spherical joint) with redundant actuation was analyzed by the minimal value optimization algorithm of driving force. By simulation experiments, it was found that the optimization results could contain singular points producing a sudden change of force. Furthermore, the reasonableness of the defect was proved on the basis of theoretical analysis, and a new minimal value optimization algorithm of driving force was designed which had rapid convergence and without singular points producing a sudden change of force. Finally, the results of simulation and analysis showed that the new optimization algorithm of driving force was effective.
Received: 02 June 2015
Published: 28 December 2015
ZHOU Jie-hua. New optimization algorithm of driving force for parallel manipulator with redundant actuation. Chinese Journal of Engineering Design, 2015, 22(6): 534-539.
