DocumentCode
1767344
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
fYear
2014
fDate
16-18 Oct. 2014
Firstpage
1
Lastpage
6
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechanical Engineering, Automation and Control Systems (MEACS), 2014 International Conference on
Conference_Location
Tomsk
Print_ISBN
978-1-4799-6220-4
Type
conf
DOI
10.1109/MEACS.2014.6986913
Filename
6986913
Link To Document