Redundant Actuation Investigation of a 5-DOF Parallel Robot

Li Cheng; Xiao Guang Zhang; Yong Sheng Zhao

doi:10.4028/www.scientific.net/AMM.526.164

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A Improved Particle Swarm Optimization Algorithm for the Application with Boundary-Layer Problems of Power-Law Fluids
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Center Track Analysis and Simulation Considering Effect of Vortex and Perturbation of Cutting Fluid on BTA Boring Bar
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Fault Mechanism Analysis and Characteristic Extraction for Multi-Disc Clutch
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Redundant Actuation Investigation of a 5-DOF Parallel Robot
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 526Redundant Actuation Investigation of a 5-DOF...

Redundant Actuation Investigation of a 5-DOF Parallel Robot

Abstract:

A 5-DOF (degree of freedom) parallel robot with redundant actuation is introduced. The force transfer matrix is set up and the influence of redundant actuating force is analyzed with influence coefficients. Based on the conventional Lagrange Equation, the dynamic formulation of this parallel robot with redundant actuation is derived. By taking joint friction into consideration, the redundant driving force optimization is analyzed in detail. This redundant force optimization strategy has been applied to the 5-DOF parallel robot successfully.

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Periodical:

Applied Mechanics and Materials (Volume 526)

Pages:

164-170

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.526.164

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Online since:

February 2014

Authors:

Li Cheng, Xiao Guang Zhang, Yong Sheng Zhao

Keywords:

Dynamic, Force Optimization, Parallel Robot, Redundant Actuation

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