Dynamic Modeling and Experimental Verification of an RPR Type Compliant Paralle Mechanism with Low Orders  

作　　者：Shuang Zhang Jingfang Liu Huafeng Ding Yanbin Zhang 

机构地区：[1]School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang,Henan,China [2]Faculty of Materials and Manufacturing,College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijing,China [3]Key laboratory of advanced manufacturing technology,Beijing University of Technology,Beijing,China [4]School of Mechanical Engineering and Electronic Information,China University of Geosciences(Wuhan),Wuhan,China [5]Center of Machinery Equipment Advanced Manufacturing of Henan Province,Luoyang,China

出　　处：《Chinese Journal of Mechanical Engineering》2024年第3期83-94,共12页中国机械工程学报（英文版）

基　　金：Supported by National Natural Science Foundation of China (Grant No.51975007)。

摘　　要：Efficiency of calculating a dynamic response is an important point of the compliant mechanism for posture adjustment.Dynamic modeling with low orders of a 2R1T compliant parallel mechanism is studied in the paper.The mechanism with two out-of-plane rotational and one lifting degrees of freedom(DoFs)plays an important role in posture adjustment.Based on elastic beam theory,the stiffness matrix and mass matrix of the beam element are established where the moment of inertia is considered.To improve solving efficiency,a dynamic model with low orders of the mechanism is established based on a modified modal synthesis method.Firstly,each branch of the RPR type mechanism is divided into a substructure.Subsequently,a set of hypothetical modes of each substructure is obtained based on the C-B method.Finally,dynamic equation of the whole mechanism is established by the substructure assembly.A dynamic experiment is conducted to verify the dynamic characteristics of the compliant mechanism.

关 键 词：Compliant parallel mechanism Dynamic model Modal synthesis method Dynamic experiment 

分 类 号：TH112[机械工程—机械设计及理论]