Dynamic analysis of spatial parallel manipulator with rigid and flexible couplings

作     者：刘善增 戴建生 沈刚 李艾民 曹国华 冯世哲 孟德远 LIU Shan-zeng;DAI Jian-sheng;SHEN Gang;LI Ai-min;CAO Guo-hua;FENG Shi-zhe;MENG De-yuan

作者机构：School of Mechatronic Engineering China University of Mining and Technology King's College University of London 

出 版 物：《Journal of Central South University》 (中南大学学报（英文版）)

年 卷 期：2017年第24卷第4期

页      面：840-853页

核心收录：

学科分类：0810[工学-信息与通信工程] 08[工学] 080202[工学-机械电子工程] 0806[工学-冶金工程] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0703[理学-化学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Projects(2014QNB18,2015XKMS022)supported by the Fundamental Research Funds for the Central Universities of China Projects(51475456,51575511)supported by the National Natural Science Foundation of China Project supported by the Priority Academic Programme Development of Jiangsu Higher Education Institutions Project supported by the Visiting Scholar Foundation of China Scholarship Council 

主　　题：rigid and flexible couplings parallel mechanism finite element force analysis dynamic stress 

摘      要：The dynamics of spatial parallel manipulator with rigid and flexible links is explored. Firstly, a spatial beam element model for finite element analysis is established. Then, the differential equation of motion of beam element is derived based on finite element method. The kinematic constraints of parallel manipulator with rigid and flexible links are obtained by analyzing the motive parameters of moving platform and the relationships of movements of kinematic chains, and the overall kinetic equation of the parallel mechanism with rigid and flexible links is derived by assembling the differential equations of motion of components. On the basis of abovementioned analyses, the dynamic mechanical analysis of the spatial parallel manipulator with rigid and flexible links is conducted. After obtaining the method for force analysis and expressions for the calculation of dynamic stress of flexible components, the dynamic analysis and simulation of spatial parallel manipulator with rigid and flexible links is performed. The result shows that because of the elastic deformation of flexible components in the parallel mechanism with rigid and flexible links, the force on each component in the mechanism fluctuates sharply, and the change of normal stress at the root of drive components is also remarkable. This study provides references for further studies on the dynamic characteristics of parallel mechanisms with rigid and flexible links and for the optimization of the design of the mechanism.