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• W3006718091 endingPage "103792" @default.
• W3006718091 startingPage "103792" @default.
• W3006718091 abstract "It is a big challenge to ensure the low energy consumption and stability of the hybrid mechanism under the dynamic load condition, and it is more obvious in the series-parallel mechanism. In this paper, a 6 degrees-of-freedom (DOF) serial-parallel hybrid humanoid arm by constituting the distribution of “2-1-3” is constructed, and a dynamic load distribution optimization method is studied systematically. The kinematics and dynamics model of the humanoid arm are established by Denavit–Hartenberg (DH) method, Lagrange formulation and the principle of virtual work which can clearly show the coupling characteristics between the components, respectively. Meanwhile, the optimal space point has been attained by a genetic algorithm via the dynamic performance evaluation index and force mapping performance evaluation index are derived based on the dynamic model, and the comprehensive performance evaluation index is defined by the weighted summation method which convert multiple comprehensive performance evaluation model into a single-objective model. Furthermore, the position and posture trajectory of the best performance and the optimal comprehensive objective function are solved by a genetic algorithm, which enables the robot to complete the movement with the lowest energy consumption, the fastest and smoothest way, and the feasibility of this method is verified by numerical example. The work laid a theoretical foundation for the engineering application of the humanoid arm." @default.
• W3006718091 created "2020-03-06" @default.
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• W3006718091 date "2020-07-01" @default.
• W3006718091 modified "2023-09-27" @default.
• W3006718091 title "Optimization of dynamic load distribution of a serial-parallel hybrid humanoid arm" @default.
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• W3006718091 doi "https://doi.org/10.1016/j.mechmachtheory.2020.103792" @default.
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