An Optimal Allocation Method of Driving Forces for a Redundantly Actuated Parallel Chewing Robot

In order to solve the redundant driving issue of a redundantly actuated parallel chewing robot, an optimal allocation method of driving forces is proposed in this paper. The dynamic equations are established based on Lagrange equations and principle of virtual work. The force model of the chewing robot is established. A mathematical model for optimal allocation of driving forces based on genetic algorithm is established using two optimization criteria, minimization of 2-norm of six sets of driving forces and minimization of 2-norm of the internal forces of the temporomandibular joints. Chewing simulated food experiments are carried out to verify the feasibility of the optimal allocation method of driving forces.