Optimization of Driving Force and Energy Consumption of 4-PRR Redundant Parallel Mechanism

被引：0
作者：
Hu X. [1 ]
Xie Z. [1 ]
Wu X. [2 ]
Liu F. [1 ]
Lu C. [1 ]
Tang X. [1 ]
机构：
[1] State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing
[2] School of Mechanical Engineering, Chongqing University of Technology, Chongqing
来源：
Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery | 2019年 / 50卷 / 05期
关键词：
Dynamics; Energy consumption; Optimization methods; Redundant parallel mechanism;
D O I：
10.6041/j.issn.1000-1298.2019.05.047
中图分类号：
学科分类号：
摘要：
In order to carry out the wind tunnel test in a good flow field at different mach numbers, the inner contour of the nozzle segment should be precisely controlled. A 4-PRR redundant planar parallel mechanism of three degrees of freedom was designed and analyzed for the position and orientation adjustment. The inverse kinematics of the mechanism was solved by adopting the closed vector and influence coefficient methods. The inverse dynamics model was established by using the virtual work principle based on the kinematics. For the character that the distribution of the active joints' drive forces was not unique due to the redundant actuation, the methods of 2-norm optimization of driving force and minimizing the sum of the absolute driving power were proposed. Then the driving force and driving power were obtained, and it was compared with the results of the 3-PRR non-redundant parallel mechanism. The analyses indicated that the redundant actuation can evidently reduce the instantaneous drive force, instantaneous driving power and the work of actuators. The work of actuators optimized by the two methods was reduced by 49.2% and 50.7%, respectively. Based on the contrastive analysis of the optimization methods, the appropriate drive method can be chosen to optimize and equipoise the instantaneous driving force and instantaneous driving power, and reduce the power consumption in the process of motion. © 2019, Chinese Society of Agricultural Machinery. All right reserved.
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页码：413 / 419
页数：6
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