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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.
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Optimization of Actuating Forces of Redundantly Actuated Planar Parallel Manipulators

  • Department of Basic Science, Beijing Polytechnic University, 100022

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  • Received Date: May 31, 1996
  • Available Online: August 08, 2022
  • Published Date: June 09, 1997
    Graphical Abstract
    • Abstract
  • 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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