Dynamic Analysis and Optimization of Parallel Manipulator

Wang KaiJie, Wu JianXin;

Abstract


Electromechanical coupling dynamic model of parallel manipulator is a kind of a complicated electromechanical system which is multi‐input, multi‐output, nonlinear and strong coupling. There is not a perfect method to calculate dynamic modeling and simulation of parallel manipulator at present. 6UPS‐parallel manipulator dynamic model was set up by Lagrange method; PID position controller was designed; and the controller parameters were optimized by inertia weight adaptive particle swarm optimization in the article. It was proved that the modeling of electromechanical coupling dynamic model was right and the manipulator was controlled well by the controller through the simulation result of computer.

Keywords


parallel; manipulator; dynamics; optimization;

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