Optimal Allocation Method of Parallel Mechanism and Its Application

doi:10.3901/JME.2019.01.032

Abstract

Abstract: Actuation redundancy is an effective way for optimal allocation of driving forces. The way of redundancy and input force intensity have significant influence on basic diving forces of parallel mechanism. Based on the principle of virtual work, the dynamic equation under actuation redundancy is established, and least square solutions are used as the inputs of redundant actuators. The Z3 parallel power head is used as an example where the basic driving forces under single actuator redundancy and multi-actuator redundancy are theoretically derived and calculated. Influence under different redundancy mode is analysed. Besides, a simulation prototype is built with the theoretical solutions serving as redundant driving force. The results verify the reliability and validity of optimal allocation of basic driving force based on the proposed method.

Key words: 3-PRS parallel mechanism, actuation redundancy, allocation optimization, dynamics

CLC Number:

TH112

WANG Xiangyang, GUO Sheng, QU Haibo, ZHAO Fuqun. Optimal Allocation Method of Parallel Mechanism and Its Application[J]. Journal of Mechanical Engineering, 2019, 55(1): 32-41.

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