Title :
An articular force optimization method of parallel manipulator with actuation redundancy
Author :
Liangliang Zhang ; Yao Jiang ; Tiemin Li
Author_Institution :
Dept. of Mech. Eng., Tsinghua Univ., Beijing, China
Abstract :
A method of articular force optimization to minimize the deformation of key links in machines is proposed. Different weights are assigned to different articular forces based on the flexibility of links. This method is tested on a 4RRR parallel manipulator and the result shows a reduction of the key links´ deformation by 15%. The method can be applied to any machine with actuation redundancy in precision control.
Keywords :
flexible manipulators; force control; optimal control; optimisation; redundant manipulators; 4RRR parallel manipulator; actuation redundancy; articular force optimization method; key link deformation reduction; link flexibility; machine key link deformation minimization; precision control; weight assignment; Manganese; Mechanical engineering; Optimization; Redundancy; actuation redundancy; articular force optimization; link deformation; parallel manipulator;
Conference_Titel :
Mechanical Engineering, Automation and Control Systems (MEACS), 2014 International Conference on
Conference_Location :
Tomsk
Print_ISBN :
978-1-4799-6220-4
DOI :
10.1109/MEACS.2014.6986913
