Dynamic modeling and analysis of 3-■RS parallel manipulator with flexible links

被引：9
|
作者：
刘善增 [1 ,2 ]
余跃庆 [1 ]
朱真才 [2 ]
苏丽颖 [1 ]
刘庆波 [1 ]
机构：
[1] College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology
[2] School of Mechanical and Electrical Engineering,China University of Mining and Technology(Xuzhou)
来源：
Journal of Central South University of Technology | 2010年 / 17卷 / 02期
基金：
北京市自然科学基金; 中国国家自然科学基金;
关键词：
flexible robot; parallel manipulator; dynamic analysis; kineto-elastodynamics analysis; driving torque;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
The dynamic modeling and solution of the 3-■RS spatial parallel manipulators with flexible links were investigated.Firstly,a new model of spatial flexible beam element was proposed,and the dynamic equations of elements and branches of the parallel manipulator were derived.Secondly,according to the kinematic coupling relationship between the moving platform and flexible links,the kinematic constraints of the flexible parallel manipulator were proposed.Thirdly,using the kinematic constraint equations and dynamic model of the moving platform,the overall system dynamic equations of the parallel manipulator were obtained by assembling the dynamic equations of branches.Furthermore,a few commonly used effective solutions of second-order differential equation system with variable coefficients were discussed.Newmark numerical method was used to solve the dynamic equations of the flexible parallel manipulator.Finally,the dynamic responses of the moving platform and driving torques of the 3-■RS parallel mechanism with flexible links were analyzed through numerical simulation.The results provide important information for analysis of dynamic performance,dynamics optimization design,dynamic simulation and control of the 3-■RS flexible parallel manipulator.
引用
收藏
页码：323 / 331
页数：9
相关论文
共 50 条
  • [21] Dynamic analysis of a high-speed flexible parallel manipulator
    Zhang, Quan
    Zhou, Li-Ping
    Jin, Jia-Mei
    Zhang, Jian-Hui
    Zhendong Gongcheng Xuebao/Journal of Vibration Engineering, 2015, 28 (01): : 27 - 37
  • [22] Nonlinear dynamic analysis of the extended telescopic joints manipulator with flexible links
    Aghajari, Mostafa
    Fathollahi Dehkordi, Siavash
    Korayem, Moharram Habibnejad
    ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING, 2021, 46 (08) : 7909 - 7928
  • [23] Nonlinear dynamic analysis of the extended telescopic joints manipulator with flexible links
    Mostafa Aghajari
    Siavash Fathollahi Dehkordi
    Moharram Habibnejad Korayem
    Arabian Journal for Science and Engineering, 2021, 46 : 7909 - 7928
  • [24] Investigation of parasitic motion in 3-<underline>R</underline>RS parallel manipulator
    Jain, Anshul
    Jawale, Hemant P.
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2024, 238 (14) : 6964 - 6976
  • [25] Inverse dynamic modeling and control of spatial rigid-flexible parallel manipulator
    Liu L.
    Zhao X.-H.
    Wang S.-J.
    Qin S.-H.
    Liu, Liang (liuliang_tjut@126.com), 2018, Chinese Academy of Sciences (26): : 95 - 104
  • [26] An efficient dynamic modelling approach for high-speed planar parallel manipulator with flexible links
    Chen, Zhengsheng
    Kong, Minxiu
    Ji, Chen
    Liu, Ming
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2015, 229 (04) : 663 - 678
  • [27] Dynamic Modeling and Active Vibration Control of a 3-PRR Flexible Parallel Manipulator with PZT transducers
    Zhang, Xuping
    Wang, Xiaoyun
    Mills, James K.
    Cleghorn, William L.
    2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, : 461 - +
  • [28] Study on the Effect of Axial Forces on Dynamic Stiffening of a 3-RPR Planar Parallel Manipulator with Flexible Intermediate Links
    Kakhki, Mohsen Hajebi
    Ebrahimi, Saeed
    2014 SECOND RSI/ISM INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2014, : 83 - 88
  • [29] 3 Kinematic and Dynamic Analysis of a 4DOF Parallel Robot with Flexible Links
    Cretescu, N.
    Neagoe, M.
    Saulescu, R.
    NEW ADVANCES IN MECHANISMS, MECHANICAL TRANSMISSIONS AND ROBOTICS, 2017, 46 : 473 - 481
  • [30] DYNAMIC MODELING OF A FLEXIBLE CYLINDRICAL MANIPULATOR
    KRISHNAMURTHY, K
    JOURNAL OF SOUND AND VIBRATION, 1989, 132 (01) : 143 - 154
12345