Dynamic modeling and analysis of 3-■RS parallel manipulator with flexible links  

作　　者：刘善增 余跃庆 朱真才 苏丽颖 刘庆波 

机构地区：[1]College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology [2]School of Mechanical and Electrical Engineering,China University of Mining and Technology(Xuzhou)

出　　处：《Journal of Central South University》2010年第2期323-331,共9页中南大学学报（英文版）

基　　金：Projects(50875002, 60705036) supported by the National Natural Science Foundation of China;Project(3062004) supported by Beijing Natural Science Foundation, China;Project(20070104) supported by the Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences;Project(2009AA04Z415) supported by the National High-Tech Research and Development Program of China

摘　　要：The dynamic modeling and solution of the 3-RRS spatial parallel manipulators with flexible links were investigated. Firstly, a new model of spatial flexible beam element was proposed, and the dynamic equations of elements and branches of the parallel manipulator were derived. Secondly, according to the kinematic coupling relationship between the moving platform and flexible links, the kinematic constraints of the flexible parallel manipulator were proposed. Thirdly, using the kinematic constraint equations and dynamic model of the moving platform, the overall system dynamic equations of the parallel manipulator were obtained by assembling the dynamic equations of branches. FtLrthermore, a few commonly used effective solutions of second-order differential equation system with variable coefficients were discussed. Newmark numerical method was used to solve the dynamic equations of the flexible parallel manipulator. Finally, the dynamic responses of the moving platform and driving torques of the 3-RRS parallel mechanism with flexible links were analyzed through numerical simulation. The results provide important information for analysis of dynamic performance, dynamics optimization design, dynamic simulation and control of the 3-RRS flexible parallel manipulator.The dynamic modeling and solution of the 3-■RS spatial parallel manipulators with flexible links were investigated.Firstly,a new model of spatial flexible beam element was proposed,and the dynamic equations of elements and branches of the parallel manipulator were derived.Secondly,according to the kinematic coupling relationship between the moving platform and flexible links,the kinematic constraints of the flexible parallel manipulator were proposed.Thirdly,using the kinematic constraint equations and dynamic model of the moving platform,the overall system dynamic equations of the parallel manipulator were obtained by assembling the dynamic equations of branches.Furthermore,a few commonly used effective solutions of second-order differential equation system with variable coefficients were discussed.Newmark numerical method was used to solve the dynamic equations of the flexible parallel manipulator.Finally,the dynamic responses of the moving platform and driving torques of the 3-■RS parallel mechanism with flexible links were analyzed through numerical simulation.The results provide important information for analysis of dynamic performance,dynamics optimization design,dynamic simulation and control of the 3-■RS flexible parallel manipulator.

关 键 词：flexible robot parallel manipulator dynamic analysis kineto-elastodynamics analysis driving torque 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]