Dynamic Load Distribution Optimization for a 4-DOF Redundant and Series-parallel Hybrid Humanoid Arm

doi:10.3901/JME.2020.09.045

Abstract

Abstract: According to the characteristics of series mechanism and parallel mechanism, a novel 4-DOF redundant and series-parallel hybrid humanoid mechanical arm is proposed to make up the deficiencies of current humanoid manipulator. For the character that distribution of active joints' drive forces is not unique due to the redundant degree of freedom, a dynamic load coordination distribution optimization method for the mechanism tracking anticipant trajectory is proposed. The dynamic model of the mechanism of redundant and hybrid manipulator is established based on the Newton-Euler approach, to derive the deformation equations of compatibility for the shoulder of manipulator since its dynamic equations is hyperstatic equations by utilizing the micro-deformation and superposition principle. A multi-optimization model is established including the average power, torque fluctuation and average power deviation, and the method of principal component analysis is used to solve the model. The correctness and feasibility of this optimization method is verified by numerical examples. Results show that the input combination of optimal allocation is selected to achieve the mainpulator working placidly with low energy consumption.

Key words: hybrid manipulator, dynamic model, deformation equation of compatibility, principal component analysis, dynamic load coordination distribution

CLC Number:

TP24

LI Yanbiao, WANG Zesheng, SUN Peng, XU Taotao, QIN Songyang. Dynamic Load Distribution Optimization for a 4-DOF Redundant and Series-parallel Hybrid Humanoid Arm[J]. Journal of Mechanical Engineering, 2020, 56(9): 45-54.

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