Optimize the redundant 6-DOF Stewart Platform based on ant colony optimization

We put forward the proposal of three attached passive redundancy legs, in order to improve the drive capability of electric 6-DOF Stewart Platform. First, we build the dynamic model of 6-DOF Stewart Platform and analyze its driving force in typical working conditions, and then we use ant colony optimization to find the optimal allocation and driving force of the three passive redundancy legs. We also set the SimMechanics model to simulate the non-redundant parallel mechanism and optimized redundant parallel mechanism. The results of simulation show that the redundant driving reduces the peak of driving force effectively, which verify the effectiveness of this method.