Dynamic characteristics of spatial parallel mechanism with spherical joint clearance

被引：2

作者：

Li Y.-B. ^{[1
]}

Xu T.-T. ^{[1
]}

Zheng H. ^{[1
]}

Wang Z.-S. ^{[1
]}

机构：

[1] College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou

来源：

Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2020年 / 54卷 / 02期

关键词：

Contact model; Dynamic characteristic; Newton-Eulerian method; Parallel mechanism; Spherical joint clearance;

D O I：

10.3785/j.issn.1008-973X.2020.02.016

中图分类号：

学科分类号：

摘要：

A rigid body dynamics model of a spatial parallel mechanism with multiple spherical joint clearances was established, in order to analyze the dynamic characteristics of the 5-PSS/UPU parallel mechanism with spherical joint clearances. A kinematic model of parallel mechanism with spherical joint clearances was established based on the 'contact-separation' two-state model. The normal and tangential contact force models between the kinematic joint elements were established based on an improved contact model and a modified Coulomb friction model, and the contact force was further transformed into the centroid of the component corresponding to the kinematic joint elements. The Newton-Eulerian method combined with the Lagrange multiplier was used to establish the dynamic model of the parallel mechanism with clearances and the dynamic characteristics were analyzed by numerical simulation.The root-mean-square error (RMSE) values of the angular acceleration of the moving platform with clearance of 0.05, 0.10, 0.20 and 0.40 mm were calculated, which were 40.046, 65.385, 98.489 and 145.715 rad/s2, respectively. Results show that in the case where there are multiple spherical joint clearances, when the clearance value increases, the dynamic performance of the spatial parallel mechanism visibly deteriorates. © 2020, Zhejiang University Press. All right reserved.

引用

页码：348 / 356

页数：8