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

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Abstract

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. 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-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.

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Authors and Affiliations

  1. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, 100124, China

    Shan-zeng Liu  (刘善增), Yue-qing Yu  (余跃庆), Li-ying Su  (苏丽颖) & Qing-bo Liu  (刘庆波)

  2. School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou, 221116, China

    Shan-zeng Liu  (刘善增) & Zhen-cai Zhu  (朱真才)

Authors
  1. Shan-zeng Liu  (刘善增)
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  2. Yue-qing Yu  (余跃庆)
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  3. Zhen-cai Zhu  (朱真才)
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  4. Li-ying Su  (苏丽颖)
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  5. Qing-bo Liu  (刘庆波)
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Corresponding author

Correspondence to Yue-qing Yu  (余跃庆).

Additional information

Foundation item: Projects(50875002, 60705036) supported by the National Natural Science Foundation of China; Project(3062004) supported by Beijing Natural Science Foundation, China; Project(20070104) supported by the Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences; Project(2009AA04Z415) supported by the National High-Tech Research and Development Program of China

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Liu, Sz., Yu, Yq., Zhu, Zc. et al. Dynamic modeling and analysis of 3-RRS parallel manipulator with flexible links. J. Cent. South Univ. Technol. 17, 323–331 (2010). https://doi.org/10.1007/s11771-010-0049-8

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  • DOI: https://doi.org/10.1007/s11771-010-0049-8

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