Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 15, issue 2
Articles | Volume 15, issue 2
https://doi.org/10.5194/ms-15-587-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-15-587-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 15, issue 2
Research article
 | 
24 Oct 2024
Research article |  | 24 Oct 2024

Inverse dynamics and inertia coupling analysis of a parallel mechanism with parasitic motions and redundant actuations

Chen Cheng, Xiaojing Yuan, Yenan Li, and Fanqi Zeng

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Short summary
Our research team designed a robotic mechanism inspired by the masticatory system of human beings. It is to be deployed in the food industry, reproducing the chewing behaviors of human beings. Thus, the properties of the newly developed foods can be evaluated in a human-like manner. To facilitate the model-based motion control in real time, a newly developed methodology from the literature is used. Then, the inertia coupling in the joint space control is analyzed.
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