Optimum Motion Planning of Parallel Redundant Mechanisms with Shaking Force Reduction

The parallel mechanisms are fit for high speed and precise manipulation for the favorable structural rigidity, whereas they reveal some defaults such as a smaller workspace and challengeable for motion planning and control at the same time. For the sake of improving the dynamic performance of the parallel mechanisms, the redundant parallel mechanism is studied kinematically. The reasons of shaking of the parallel mechanisms are analyzed, and an optimal motion-planning method is proposed based on the extended Jacobian matrix for reducing the shaking force of the mechanisms in kinematics. Some simulations by a six-bar planar parallel mechanism testify some aspects of the research results