Dynamics Modeling, Force Optimization and Force/Position Hybrid Control for a Vex4 Redundantly Actuated Parallel Robot

doi:10.3901/JME.2022.23.065

Abstract

Abstract: Introducing actuation redundancy in parallel kinematic machines can avoid singularities, improve stiffness and load. Redundant actuation, however, poses challenges to dynamics modeling and controller designing regarding internal force distribution and optimization. In order to solve the above problems, taking a Vex4 3-DOF parallel robot as an example, dynamics model is established based on the natural orthogonal complement method. Then, by resorting to the right Moore-Penrose generalized inverse, the solution of the minimum-actuating-force is obtained based on QR decomposition of coefficient matrix. To balance actuator-force and track trajectory, a synchronous optimization method is first proposed and then integrated into a force-position hybrid controller with non-redundant branch controlled by position law and redundant branch by force law. Finally, a prototype of Vex4 is built to test and verify the proposed modeling and controller designing approach.

Key words: actuation redundancy, natural orthogonal complement, parallel manipulator, synchronous optimization, force-position hybrid control

CLC Number:

TH113

WANG Yaojun, ZHANG Haifeng, LI Qinchuan. Dynamics Modeling, Force Optimization and Force/Position Hybrid Control for a Vex4 Redundantly Actuated Parallel Robot[J]. Journal of Mechanical Engineering, 2022, 58(23): 65-74.

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