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作者:

Liu, Shanzeng (Liu, Shanzeng.) | Zhu, Zhencai (Zhu, Zhencai.) | Yu, Yueqing (Yu, Yueqing.) (学者:余跃庆) | Liu, Chusheng (Liu, Chusheng.) | Zhang, Lianjie (Zhang, Lianjie.)

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摘要:

The primary goal of this research is frequency analysis of the spatial flexible-rigid coupled parallel manipulator. A new model of spatial flexible beam element is proposed. The dynamic equation of the spatial flexible beam element is derived based on the finite element theory and Lagrange equations. The kinematic constraint conditions of the movable platform and the sub-chains of the flexible-rigid coupled parallel manipulator are derived, based on the elastic displacements of the movable platform and the sub-chains. The dynamic model of the movable platform is developed based on the Newton-Euler principle. By using the kinematic constraint equations and dynamic model of the moving platform, the overall system dynamic equations of the flexible-rigid coupled parallel manipulator are obtained through assembling the dynamic equations of elements. Then, the natural frequencies of a 3-RRS flexible-rigid coupled parallel manipulator are studied through numerical simulation. From the simulation results, the natural frequencies are relatively sensitive to the structure size, section parameter, and characteristic parameter of material on mechanisms. The results provide important knowledge to researchers to the dynamic analysis and optimal design of flexible-rigid coupled parallel manipulators. © 2011 Journal of Mechanical Engineering.

关键词:

Spatial variables measurement Natural frequencies Equations of motion Flexible couplings Kinematics Finite element method Manipulators Flexible structures Dynamic models

作者机构:

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

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来源 :

Journal of Mechanical Engineering

ISSN: 0577-6686

年份: 2011

期: 23

卷: 47

页码: 39-48

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WoS核心集被引频次: 0

SCOPUS被引频次: 11

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