Kinematic constraint conditions and dynamic equations of spatial flexible parallel manipulator - Details

Author：

Liu, Shanzeng (Liu, Shanzeng.) | Zhu, Zhencai (Zhu, Zhencai.) | Liu, Chusheng (Liu, Chusheng.) | Zhang, Lianjie (Zhang, Lianjie.) | Yu, Yue-Qing (Yu, Yue-Qing.) (Scholars：余跃庆)

Indexed by：

EI Scopus

Abstract：

The　primary　goal　of　this　research　is　dynamics　modeling　and　analysis　of　spatial　parallel　manipulator　with　flexible　links.　A　new　model　of　spatial　finite　element　beam　model　is　proposed.　The　kinematic　constraint　conditions　of　the　moving　platform　and　the　branches　of　the　spatial　flexible　parallel　manipulator　are　derived.　The　dynamic　model　of　the　moving　platform　is　developed　based　on　the　Newton-Euler　principle.　Then,　using　the　kinematic　constraint　equations　and　dynamic　model　of　the　moving　platform,　the　overall　system　dynamic　equations　of　the　parallel　manipulator　are　obtained　through　assembling　the　dynamic　equations　of　elements.　Finally,　the　numerical　simulation　of　a　3-RRS　parallel　manipulator　was　presented　and　compared　with　the　results　of　SAMCEF　software　simulation.　The　results　showed　that　the　effectiveness　and　correctness　of　the　dynamic　models　proposed　in　this　paper.　©　2011　IEEE.

Keyword：

Kinematics Manipulators Finite element method Dynamic models Dynamics Computer software

Author Community：

[ 1 ] [Liu, Shanzeng]School of Mechanical and Electrical Engineering, China University of Mining and Technology, 221116, Xuzhou, China
[ 2 ] [Zhu, Zhencai]School of Mechanical and Electrical Engineering, China University of Mining and Technology, 221116, Xuzhou, China
[ 3 ] [Liu, Chusheng]School of Mechanical and Electrical Engineering, China University of Mining and Technology, 221116, Xuzhou, China
[ 4 ] [Zhang, Lianjie]School of Mechanical and Electrical Engineering, China University of Mining and Technology, 221116, Xuzhou, China
[ 5 ] [Yu, Yue-Qing]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, 100124, Beijing, China