Cai Shengli, Bai Shixian. Optimization of Actuating Forces of Redundantly Actuated Planar Parallel Manipulators[J]. Journal of Beijing University of Technology, 1997, 23(2): 37-41.
Citation:
Cai Shengli, Bai Shixian. Optimization of Actuating Forces of Redundantly Actuated Planar Parallel Manipulators[J]. Journal of Beijing University of Technology, 1997, 23(2): 37-41.
Cai Shengli, Bai Shixian. Optimization of Actuating Forces of Redundantly Actuated Planar Parallel Manipulators[J]. Journal of Beijing University of Technology, 1997, 23(2): 37-41.
Citation:
Cai Shengli, Bai Shixian. Optimization of Actuating Forces of Redundantly Actuated Planar Parallel Manipulators[J]. Journal of Beijing University of Technology, 1997, 23(2): 37-41.
Optimization of Actuating Forces of Redundantly Actuated Planar Parallel Manipulators
Two kinds of planar parallel manipulators with redundant actuators are introduced. Based on dynamic equations, their actuating forces corresponding to different optimum targets are derived by using optimization methods. The results indicates that the actuating forces of parallel manipulators can be significantly reduced by redundant actuation.
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