The dynamic modeling and solution of the 3-RRS spatial parallel manipulators with flexible links were investigated. Firstly, a new model of spatial flexible beam element was proposed, and the dynamic equations of elem...The dynamic modeling and solution of the 3-RRS 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. FtLrthermore, 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-RRS 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-RRS flexible parallel manipulator.展开更多
Equivalent integrated finite element method is a canonical and efficient modeling method in dynamic analysis of complex mechanism. The key of establishing dynamic equations of spatial mechanism by the method is to con...Equivalent integrated finite element method is a canonical and efficient modeling method in dynamic analysis of complex mechanism. The key of establishing dynamic equations of spatial mechanism by the method is to confirm Jacobian matrix reflecting relations of all joints,nodes,and generalized coordinates,namely,relations of second-order and corresponding third-order conversion tensors. For complex motion relations of components in a parallel robot,it gives second-order and third-order conversion tensors of dynamic equations for the 6-HTRT parallel robot based on equivalent integrated finite element method. The method is suitable for the typical robots whose positions of work space and sizes of mechanism are different. The solving course of the method is simple and convenient,so the method lays the foundation of dynamic analysis for robots.展开更多
基金Partially supported by NSFC (No.11771209)Humanities and Social Sciences Foundation of the Ministry of Education of China (No.18YJCZH101)+2 种基金Natural Science Foundation of Jiangsu Province of China (No.BK20161579)Major Research Plan of Natural Science Foundation of the Jiangsu Higher Education Institutions of China (No.18KJA110002)2018 Qinglan Project and 333 Talent Training Project of Jiangsu Province。
基金Projects(50875002, 60705036) supported by the National Natural Science Foundation of ChinaProject(3062004) supported by Beijing Natural Science Foundation, China+1 种基金Project(20070104) supported by the Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of SciencesProject(2009AA04Z415) supported by the National High-Tech Research and Development Program of China
文摘The dynamic modeling and solution of the 3-RRS 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. FtLrthermore, 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-RRS 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-RRS flexible parallel manipulator.
基金Innovation Fund of Harbin,China (No.2006RFQXG036)
文摘Equivalent integrated finite element method is a canonical and efficient modeling method in dynamic analysis of complex mechanism. The key of establishing dynamic equations of spatial mechanism by the method is to confirm Jacobian matrix reflecting relations of all joints,nodes,and generalized coordinates,namely,relations of second-order and corresponding third-order conversion tensors. For complex motion relations of components in a parallel robot,it gives second-order and third-order conversion tensors of dynamic equations for the 6-HTRT parallel robot based on equivalent integrated finite element method. The method is suitable for the typical robots whose positions of work space and sizes of mechanism are different. The solving course of the method is simple and convenient,so the method lays the foundation of dynamic analysis for robots.
