工程设计学报Issue(6)：534-539,6.DOI:10.3785/j.issn.1006-754X.2015.06.004
冗余驱动并联机构驱动力优化的新型算法设计
New optimization algorithm of driving force for parallel manipulator with redundant actuation
摘要
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 4‐SP-S/S (4‐spherical joint‐prismatic joint‐spherical joint/spherical joint ) with redundant actuation was analyzed by the mini‐mal 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 .Fur‐thermore ,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 conver‐gence and without singular points producing a sudden change of force .Finally ,the results of sim‐ulation and analysis showed that the new optimization algorithm of driving force was effective .关键词
冗余驱动/并联机构/逆动力学/优化分析Key words
redundant actuation/parallel manipulator/inverse dynamics/optimization analysis分类
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周结华..冗余驱动并联机构驱动力优化的新型算法设计[J].工程设计学报,2015,(6):534-539,6.基金项目
江西省青年自然科学基金资助项目（20151BAB217022）；江西省教育厅青年科学基金项目（GJJ14549）；南昌航空大学博士启动基金项目（EA201204428）． （）
