Abstract
Optimal point-to-point motion planning of flexible parallel manipulator was investigated in this paper. First, the dynamic model of a 3RRR planar parallel manipulator was derived through Kane equation and the improved curvature-based finite element (ICFE) method. Secondly, an optimal point-to-point motion planning problem was constructed with consideration of the flexible dynamic model. Then, an adaptive Gauss Pseudo-spectral Method (GPM) was proposed to transcribe the trajectory optimization problem into Nonlinear Programming (NLP) problem, and the SQP was adopted to solve the NLP problem. At last, the simulation was carried out on a 3RRR flexible parallel manipulator, the result showed residue vibration of the flexible links can be diminished and the predefined accuracy can be satisfied by adding collocation points or refining the mesh interval through the proposed adaptive algorithm.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
