论文信息 - An articular force optimization method of parallel manipulator with actuation redundancy

An articular force optimization method of parallel manipulator with actuation redundancy

A method of articular force optimization to minimize the deformation of key links in machines is proposed. Different weights are assigned to different articular forces based on the flexibility of links. This method is tested on a 4RRR parallel manipulator and the result shows a reduction of the key links' deformation by 15%. The method can be applied to any machine with actuation redundancy in precision control.

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