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High-efficiency inverse dynamics modeling of parallel posture alignment mechanism with actuation redundancy

Published online by Cambridge University Press:  04 May 2023

Zhihao Wang Open the ORCID record for Zhihao Wang [Opens in a new window] ,
Hongbin Li  and
Nina Sun
Zhihao Wang*
Affiliation:
College of Transportation, Ludong University, Yantai City, China College of Intelligent Manufacturing Industry, Ludong University, Yantai City, China
Hongbin Li
Affiliation:
College of Transportation, Ludong University, Yantai City, China College of Intelligent Manufacturing Industry, Ludong University, Yantai City, China
Nina Sun
Affiliation:
College of Transportation, Ludong University, Yantai City, China College of Intelligent Manufacturing Industry, Ludong University, Yantai City, China
*
Corresponding author: Zhihao Wang; Email: wangzhihao0312@foxmail.com
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Abstract

The analytical expression of driving force is helpful to quickly plan the kinematic trajectory of parallel mechanism for automatic drilling and riveting. For parallel posture alignment mechanism, because of its closed-loop characteristics, the inverse dynamic solution is more complex, especially for parallel bracket with actuation redundancy. Considering that the telescopic rods are actually flexible parts, the dynamic analytical modeling is carried out with deformation supplementary equation. Taking the force at the spherical joint as the intermediate variable and the driving force of each active prismatic pair are analytically analyzed by vector cross-product. The modeling was verified by experiment. Compared with previous research methods, the analytical method proposed improves the solution accuracy of driving force slightly and reduces the driving force solution time by 56.28%, which is high efficiency. The maximum error percentage is 1.61%, and the experimental results show that the method of inverse dynamics modeling is practical. This paper can be used for driving force analysis of parallel posture alignment mechanism based on positioner in the field of aircraft assembly.

Keywords

parallel mechanismhigh efficiencyanalytical modelinginverse dynamicsactuation redundancy
Type
Research Article
Information
Robotica , Volume 41 , Issue 9 , September 2023 , pp. 2668 - 2687
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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