Dynamics Modeling and Redundant Force Optimization of Modular Combination Parallel Manipulator

The limb-driving force mutation of the modular combination parallel manipulator (MCPM) affects the alignment process of optical axis. In this paper, a novel optimization method based on the force mutation penalty term is proposed to solve the problem of driving force mutation. The kinematics and dynamics models of the manipulator are established using a modularization idea, reducing the complexity of the modeling process, and verified using co-simulation. Moreover, particle swarm optimization (PSO) is applied as an optimization tool. The effectiveness of the proposed method is confirmed by comparing it with the minimize-the-maximum and Moore–Penrose (M–P) methods, which are widely used to solve parallel manipulators with redundant drives.