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Dynamic analysis of spatial parallel manipulator with rigid and flexible couplings

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Abstract

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.

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Authors and Affiliations

  1. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, 221116, China

    Shan-zeng Liu  (刘善增), Gang Shen  (沈刚), Ai-min Li  (李艾民), Guo-hua Cao  (曹国华), Shi-zhe Feng  (冯世哲) & De-yuan Meng  (孟德远)

  2. King’s College, University of London, London, WC2R 2LS, UK

    Shan-zeng Liu  (刘善增) & Jian-sheng Dai  (戴建生)

Authors
  1. Shan-zeng Liu  (刘善增)
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  2. Jian-sheng Dai  (戴建生)
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  3. Gang Shen  (沈刚)
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  4. Ai-min Li  (李艾民)
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  5. Guo-hua Cao  (曹国华)
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  6. Shi-zhe Feng  (冯世哲)
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  7. De-yuan Meng  (孟德远)
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Corresponding author

Correspondence to Shan-zeng Liu  (刘善增).

Additional information

Foundation item: Projects(2014QNB18, 2015XKMS022) supported by the Fundamental Research Funds for the Central Universities of China; Projects(51475456, 51575511) supported by the National Natural Science Foundation of China; Project supported by the Priority Academic Programme Development of Jiangsu Higher Education Institutions; Project supported by the Visiting Scholar Foundation of China Scholarship Council

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Liu, Sz., Dai, Js., Shen, G. et al. Dynamic analysis of spatial parallel manipulator with rigid and flexible couplings. J. Cent. South Univ. 24, 840–853 (2017). https://doi.org/10.1007/s11771-017-3486-9

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  • DOI: https://doi.org/10.1007/s11771-017-3486-9

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