Dynamics Modeling and Redundant Force Optimization of Modular Combination Parallel Manipulator

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