关键词: Tricept并联机构, 动力学, 驱动优化, 冗余驱动

Abstract: The inverse kinematics and inverse dynamics of the 3-DOF Tricept parallel mechanism with redundant actuation are analyzed. The inverse dynamic equation of the mechanism is established on the basis of Newton-Euler approach. For the character that the distribution of the active joints’ drive forces is not unique due to the redundant actuation, the drive optimization for the mechanism tracking anticipant trajectory is studied and the methods to minimize the maximum instantaneous values of driving power and driving force of joint actuators are proposed. The effectiveness of 2-norm optimizing of driving force, minimax value optimizing of driving force and minimax value optimizing of driving power are analyzed by means of several examples, and are compared with the result of non-redundant drive mechanism. The analyses indicate that the redundant actuation can evidently reduce the instantaneous drive force and instantaneous output power of the actuators, and based on the contrastive analysis of the effectiveness of 2-norm optimizing of driving force, minimax value optimizing of driving force and minimax value optimizing of driving power, the appropriate drive method can be chosen to optimize and equipoise the instantaneous driving force and instantaneous output power of the actuators.

Key words: Drive optimization, Dynamics, Redundant actuation, Tricept parallel mechanism