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Dynamics and Optimized Torque Distribution Based Force/position Hybrid Control of a 4-DOF Redundantly Actuated Parallel Robot with Two Point-contact Constraints

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  • Robot and Applications
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Abstract

A 4-DOF redundantly actuated parallel robot (RAPR) for jaw movement achieved by adding two point-contact constraints (higher-kinematic-pairs, HKPs) is presented. The inverse dynamics and driving force optimization model based on pseudo-inverse method are established. In order to overcome the disequilibrium of driving forces of the redundant chains caused by inclusion of point-contact constraints, an optimized torque distribution based force/position hybrid control (OTDFP control) method for trajectory tracking is proposed for this RAPR. Experiments are carried out to evaluate the OTDFP control. Comparison with the conventional position control is performed, showing that the OTDFP control can reduce torque fluctuation and tracking errors of the RAPR. The chewing experiment of silicone shows the RAPR is not only able to track mandibular movement, but also able to emulate chewing force and temporomandibular joint (TMJ) force under the OTDFP control.

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Southeast University, Nanjing, 211189, China

    Haiying Wen & Zhisheng Zhang

  2. School of Mechanical Engineering, Dalian University of Technology, Dalian, 116024, China

    Ming Cong, Guifei Wang & Wenlong Qin

  3. Department of Mechanical Engineering, the University of Auckland, Auckland, 1142, New Zealand

    Weiliang Xu

Authors
  1. Haiying Wen
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  2. Ming Cong
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  3. Guifei Wang
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  4. Wenlong Qin
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  5. Weiliang Xu
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  6. Zhisheng Zhang
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Corresponding author

Correspondence to Ming Cong.

Additional information

Recommended by Associate Editor Seok Chang Ryu under the direction of Editor Won-jong Kim. This work was supported in part by National Natural Science Foundation of China under Grant 51705063, Grant 51575078 and Grant 51775108, and in part by China Postdoctoral Science Foundation under Grant 2016M601301.

Haiying Wen received his B.E. degree in Mechanical Design and Automation from Shandong University, in 2008, an M.E. degree in Mechanical Engineering from Dalian University of Technology, China, in 2011, and a Ph.D. degree in mechatron-ics from Dalian University of Technology, China, in 2016. He was a Postdoctoral Fellow from 2016 to 2018 at Dalian University of Technology. He is currently a lecturer at School of Mechanical Engineering, Southeast University, China. His current research focuses on chewing robotic and control, parallel robot.

Ming Cong received his Ph.D. from Shanghai Jiao Tong University, China, in 1995. Since 2003, he joined the School of Mechanical Engineering at Dalian University of Technology, China. Professor Cong was an Outstanding Expert enjoying special government allowances approved by the State Council, an advanced worker of Intelligent Robot theme in the field of automation by National High Technology Research and Development Program (863), and a member of industrial robot expert group of the fifth intelligent robot theme for the 863. His research interests include robotics and automation, biomimetic robots and intelligent control.

Guifei Wang received her B.E. degree in Mechanical Design and Automation from Qingdao University, in 2009 and her M.E. degree in Mechanical Engineering from Dalian University of Technology, China, in 2012. She is currently a PhD candidate at School of Mechanical Engineering, Dalian University of Technology, China. Her current research focuses on chewing robotic and impedance control.

Wenlong Qin received his B.E. degree in Mechanical Design and Automation from Jiangsu University of Science and Technology, in 2012 and his M.E. degree in Mechanical Manufacturing and Automation from Jiangsu University of Science and Technology, in 2015. He is currently a PhD candidate at School of Mechanical Engineering, Dalian University of Technology, China. His current research focuses on chewing robotic and occlusal analysis.

Weiliang Xu received his B.E. degree in Manufacturing Engineering and an M.E. degree in Mechanical Engineering from Southeast University, China, 1982 and 1985, respectively, and a Ph.D. degree in mechatronics and robotics from Beijing University of Aeronautics and Astronautics, China, in 1988. He joined the University of Auckland on February 1, 2011, as Chair in Mechatronics Engineering. His current research interests are mainly in areas of advanced mechatronics/robotics with applications in medicine and foods. He is Senior Member of IEEE and Fellow of IPENZ (Institution of Professional Engineers of New Zealand). He has served as Associate Editor for IEEE Transactions on Industrial Electronics (since 2003), was Associate Editor for IEEE Robotics and Automation Magazine (2008-2009), and Editor for International Journal of Intelligent Systems Technologies and Applications, IJISTA (2005-2010).

Zhisheng Zhang received his B.E., M.E., and Ph.D. degrees in Mechanical Engineering from Southeast University, Nanjing, China, in 1995, 1997, and 2004, respectively. He is currently a Professor at the Laboratory for Intelligent Manufacturing System Engineering, Southeast University, Nanjing, China. He was a Postdoctoral Fellow from 2004 to 2006, respectively, at the University of Arizona, Tucson, USA, and the University of Michigan, Ann Arbor, USA. His research interests include statistical quality control, intelligent manufacturing system, and the theory and application of machine vision.

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Wen, H., Cong, M., Wang, G. et al. Dynamics and Optimized Torque Distribution Based Force/position Hybrid Control of a 4-DOF Redundantly Actuated Parallel Robot with Two Point-contact Constraints. Int. J. Control Autom. Syst. 17, 1293–1303 (2019). https://doi.org/10.1007/s12555-018-0429-7

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  • DOI: https://doi.org/10.1007/s12555-018-0429-7

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