Dynamic Analysis of Planar 3-RRR Flexible Parallel Robots with Dynamic Stiffening
In consideration of the second-order coupling quantity of the axial displacement caused by the transverse displacement of flexible beam, the first-order approximation coupling model of planar 3-RRR flexible parallel robots is presented, in which the rigid body motion constraints, elastic deformation...
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2014/370145 |
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| _version_ | 1849304923542388736 |
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| author | Qinghua Zhang Xuerui Fan Xianmin Zhang |
| author_facet | Qinghua Zhang Xuerui Fan Xianmin Zhang |
| author_sort | Qinghua Zhang |
| collection | DOAJ |
| description | In consideration of the second-order coupling quantity of the axial displacement caused by the transverse displacement of flexible beam, the first-order approximation coupling model of planar 3-RRR flexible parallel robots is presented, in which the rigid body motion constraints, elastic deformation motion constraints, and dynamic constraints of the moving platform are considered. Based on the different speed of the moving platform, numerical simulation results using the conventional zero-order approximation coupling model and the proposed firstorder approximation coupling model show that the effect of “dynamic stiffening” term on dynamic characteristics of the system is insignificant and can be neglected, and the zero-order approximation coupling model is enough precisely for catching essentially dynamic characteristics of the system. Then, the commercial software ANSYS 13.0 is used to confirm the validity of the zero-order approximation coupling model. |
| format | Article |
| id | doaj-art-3afd86f98cf042f185954ea96702c0a2 |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-3afd86f98cf042f185954ea96702c0a22025-08-20T03:55:36ZengWileyShock and Vibration1070-96221875-92032014-01-01201410.1155/2014/370145370145Dynamic Analysis of Planar 3-RRR Flexible Parallel Robots with Dynamic StiffeningQinghua Zhang0Xuerui Fan1Xianmin Zhang2School of Engineering Technology, Beijing Normal University Zhuhai, No. 18 Jinfeng Road, Tangjiawan, Zhuhai City, Guangdong 519087, ChinaSchool of Engineering Technology, Beijing Normal University Zhuhai, No. 18 Jinfeng Road, Tangjiawan, Zhuhai City, Guangdong 519087, ChinaGuangdong Province Key Laboratory of Precision Equipment and Manufacturing Technology, Wushan Road, Tianhe District, Guangzhou 510641, ChinaIn consideration of the second-order coupling quantity of the axial displacement caused by the transverse displacement of flexible beam, the first-order approximation coupling model of planar 3-RRR flexible parallel robots is presented, in which the rigid body motion constraints, elastic deformation motion constraints, and dynamic constraints of the moving platform are considered. Based on the different speed of the moving platform, numerical simulation results using the conventional zero-order approximation coupling model and the proposed firstorder approximation coupling model show that the effect of “dynamic stiffening” term on dynamic characteristics of the system is insignificant and can be neglected, and the zero-order approximation coupling model is enough precisely for catching essentially dynamic characteristics of the system. Then, the commercial software ANSYS 13.0 is used to confirm the validity of the zero-order approximation coupling model.http://dx.doi.org/10.1155/2014/370145 |
| spellingShingle | Qinghua Zhang Xuerui Fan Xianmin Zhang Dynamic Analysis of Planar 3-RRR Flexible Parallel Robots with Dynamic Stiffening Shock and Vibration |
| title | Dynamic Analysis of Planar 3-RRR Flexible Parallel Robots with Dynamic Stiffening |
| title_full | Dynamic Analysis of Planar 3-RRR Flexible Parallel Robots with Dynamic Stiffening |
| title_fullStr | Dynamic Analysis of Planar 3-RRR Flexible Parallel Robots with Dynamic Stiffening |
| title_full_unstemmed | Dynamic Analysis of Planar 3-RRR Flexible Parallel Robots with Dynamic Stiffening |
| title_short | Dynamic Analysis of Planar 3-RRR Flexible Parallel Robots with Dynamic Stiffening |
| title_sort | dynamic analysis of planar 3 rrr flexible parallel robots with dynamic stiffening |
| url | http://dx.doi.org/10.1155/2014/370145 |
| work_keys_str_mv | AT qinghuazhang dynamicanalysisofplanar3rrrflexibleparallelrobotswithdynamicstiffening AT xueruifan dynamicanalysisofplanar3rrrflexibleparallelrobotswithdynamicstiffening AT xianminzhang dynamicanalysisofplanar3rrrflexibleparallelrobotswithdynamicstiffening |