Dynamic analysis of a 3-RRC parallel flexible manipulator - 文章详情页

作者：

Liu, Shan-Zeng (Liu, Shan-Zeng.) | Yu, Yue-Qing (Yu, Yue-Qing.) (学者：余跃庆) | Yang, Jian-Xin (Yang, Jian-Xin.) | Su, Li-Ying (Su, Li-Ying.)

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摘要：

The　dynamic　equations　of　a　3-RRC　parallel　flexible　manipulator　based　on　Bernoulli-Euler　beam,　finite　element　method,　KED　(Kineto-Elastodynamic　Analysis)　and　Lagrange　equations　are　established.　Then,　Newmark　numerical　method　is　used　to　solve　these　equations.　Furthermore,　the　dynamic　responses　of　the　movable　platform　and　the　maximum　dynamic　stresses　of　the　flexible　links　are　analyzed.　The　results　provide　necessary　information　and　guidance　for　dynamic　performance　analysis,　optimization　design,　dynamic　simulation　and　control　of　this　3-RRC　parallel　flexible　mechanism.

关键词：

Computer simulation Dynamic analysis Finite element method Flexible manipulators Numerical methods Optimization Stresses

作者机构：

[ 1 ] [Liu, Shan-Zeng]Beijing University of Technology, Beijing 100022, China
[ 2 ] [Yu, Yue-Qing]Beijing University of Technology, Beijing 100022, China
[ 3 ] [Yang, Jian-Xin]Beijing University of Technology, Beijing 100022, China
[ 4 ] [Su, Li-Ying]Beijing University of Technology, Beijing 100022, China

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