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Dynamic characteristic parameters identification analysis of a parallel manipulator with flexible links

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Abstract

This paper presents dynamic parameters identification analysis of a 3-TPT parallel manipulator with flexible links by means of simulation and experiment. The 3-TPT mechanism is described in detail, and the dynamic equations of the regarded mechanism are derived analytically based on the Newton’s second law. The dynamic simulation model of parallel manipulator with flexible links is built by the integration method of virtual prototyping (VP) and finite element analysis (FEA), which forms the flexible multi-body system of parallel manipulator. Frequency response curves are obtained by applied force on the simulation model, and the stiffness and damping ratio are identified, respectively, from the simulation results. The strategy has been experimentally tested on an actual 3-TPT parallel manipulator. The compared results show that the errors are very small and reasonable scope, so it is feasible for the integration method used as reference and basis for dynamic characteristic. Therefore, the integration simulation method provides a theoretical foundation and reference for dynamic optimal design of parallel manipulator. These analyses and results provide valuable insight into the design and control of the parallel manipulator with flexible links.

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Authors and Affiliations

  1. School of Traffic and Mechanical Engineering, Shenyang Jianzhu University, Shenyang, 110168, China

    Chunxia Zhu, Jing Wang, Zhiwen Chen & Bo Liu

Authors
  1. Chunxia Zhu
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  2. Jing Wang
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  3. Zhiwen Chen
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  4. Bo Liu
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Corresponding author

Correspondence to Chunxia Zhu.

Additional information

Recommended by Editor Yeon June Kang

Chunxia Zhu received the M.S. and Ph.D. degrees in Mechanical Engineering from Northeastern University, Shenyang, China, in 2006 and 2008. She is currently an associate professor in the School of Traffic and Mechanical Engineering at Shenyang Jianzhu University, Shenyang, China. Her research interests include mechanism dynamics, dynamics and optimal design of parallel mechanism.

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Zhu, C., Wang, J., Chen, Z. et al. Dynamic characteristic parameters identification analysis of a parallel manipulator with flexible links. J Mech Sci Technol 28, 4833–4840 (2014). https://doi.org/10.1007/s12206-014-1104-4

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  • DOI: https://doi.org/10.1007/s12206-014-1104-4

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