Dynamic analysis of spatial parallel manipulator with rigid and flexible couplings
| العنوان: | Dynamic analysis of spatial parallel manipulator with rigid and flexible couplings |
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| المؤلفون: | Aimin Li, Shi zhe Feng, Shan zeng Liu, Guohua Cao, De yuan Meng, Gang Shen, Jian-sheng Dai |
| المصدر: | Journal of Central South University. 24:840-853 |
| بيانات النشر: | Springer Science and Business Media LLC, 2017. |
| سنة النشر: | 2017 |
| مصطلحات موضوعية: | Kinematic chain, 0209 industrial biotechnology, Engineering, Basis (linear algebra), Differential equation, business.industry, Metals and Alloys, General Engineering, Parallel manipulator, 02 engineering and technology, Kinematics, Finite element method, Mechanism (engineering), 020303 mechanical engineering & transports, 020901 industrial engineering & automation, 0203 mechanical engineering, Control theory, business, Beam (structure), ComputingMethodologies_COMPUTERGRAPHICS |
| الوصف: | The dynamics of spatial parallel manipulator with rigid and flexible links is explored. Firstly, a spatial beam element model for finite element analysis is established. Then, the differential equation of motion of beam element is derived based on finite element method. The kinematic constraints of parallel manipulator with rigid and flexible links are obtained by analyzing the motive parameters of moving platform and the relationships of movements of kinematic chains, and the overall kinetic equation of the parallel mechanism with rigid and flexible links is derived by assembling the differential equations of motion of components. On the basis of abovementioned analyses, the dynamic mechanical analysis of the spatial parallel manipulator with rigid and flexible links is conducted. After obtaining the method for force analysis and expressions for the calculation of dynamic stress of flexible components, the dynamic analysis and simulation of spatial parallel manipulator with rigid and flexible links is performed. The result shows that because of the elastic deformation of flexible components in the parallel mechanism with rigid and flexible links, the force on each component in the mechanism fluctuates sharply, and the change of normal stress at the root of drive components is also remarkable. This study provides references for further studies on the dynamic characteristics of parallel mechanisms with rigid and flexible links and for the optimization of the design of the mechanism. |
| تدمد: | 2227-5223 2095-2899 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_________::7260b16b1e056f0fb99c0044c7706e74 https://doi.org/10.1007/s11771-017-3486-9 |
| حقوق: | CLOSED |
| رقم الأكسشن: | edsair.doi...........7260b16b1e056f0fb99c0044c7706e74 |
| قاعدة البيانات: | OpenAIRE |
Find this article in full text from Springer Verlag. | تدمد: | 22275223 20952899 |
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