Design and Redundancy Control Approach of a Novel Three-Platform Parallel-Coupled Mobile Robot

Based on the advantages of redundancy, high stiffness, and strong load-bearing capacity of parallel mechanisms, they can be applied in the field of mobile robots. This paper proposes a novel three-platform parallel-coupled mobile robot and conducts motion analysis and dynamic modeling for it. It proposes an active internal force regulation strategy and a driving force synchronization and coordination control strategy based on the idea of collaborative integration, and optimizes these two control strategies using neural network methods. Finally, prototype experimental tests show that compared with force–position hybrid control, the active internal force regulation reduces internal force error to 11.6% of the initial value, which is further reduced to 6.5% after neural network optimization; the synchronization–coordination control cuts branch driving error to 10.2% of the initial value and further to 5.1% via neural network optimization. Adaptive compensation for residual coupling and model uncertainty is achieved, further realizing high-precision convergence of internal force errors. This provides a reliable internal force control guarantee for stable collaboration and high-precision operation of robots.