Dynamic Modeling and Inverse Dynamic Analysis of Flexible Parallel Robots

被引：0
|
作者：
Du Zhaocai [1 ]
Yu Yueqing [1 ]
机构：
[1] Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Beijing, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2008年 / 5卷 / 01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 parallel robot; flexible link; dynamic modeling; inverse dynamic analysis;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents a method for the dynamic modeling of parallel robots with flexible links and rigid moving platform based on finite element theory. The relation between elastic displacements of links is investigated, taking into consideration the coupling effects of elastic motion and rigid motion. The kinematic and dynamic constraint conditions of elastic displacements of flexible parallel robots are presented. The Kineto-Elastodynamics theory anti Timoshenko beam theory are employed to derive the equations of motion, considering the effects of distributed mass, lumped mass, rotary inertia, shearing deformation, bending deformation, lateral deformations and till the dynamic coupling terms. The dynamic behavior due to flexibility of links is well illustrated through numerical simulation. Compared with the results of SAMCEF software simulation, the numerical simulation results show good coherence and the advantages of the method. The flexibility of links is demonstrated to have significant impact on system performance and stability. A method for the inverse dynamic analysis of flexible parallel robots is presented.
引用
收藏
页码：115 / 122
页数：8
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