Abstract
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.
Highlights
IntroductionMany researchers have paid more attention to the light flexible robots with high-speed, highacceleration, and high-precision which are widely used in the assembly industry, the aerospace industry and the precision machining, and the measurement field
In recent several decades, many researchers have paid more attention to the light flexible robots with high-speed, highacceleration, and high-precision which are widely used in the assembly industry, the aerospace industry and the precision machining, and the measurement field
The FOAC model of planar 3-RRR flexible parallel robots with six flexible links was established through the finite element method and the Lagrange equation, in which dynamic stiffening term was considered
Summary
Many researchers have paid more attention to the light flexible robots with high-speed, highacceleration, and high-precision which are widely used in the assembly industry, the aerospace industry and the precision machining, and the measurement field. Zhang et al [11, 12] studied dynamic modeling method and dynamic characteristics of planar 3-RRR flexible parallel robots. In consideration of the second-order coupling quantity of the axial displacement caused by the transverse displacement of flexible beam, based on the finite element method (FEM) and the Lagrange equation, the first-order approximation coupling model (FOAC model) of planar 3-RRR flexible parallel robots is presented. One finds that the influence of dynamic stiffening of planar 3-RRR flexible parallel robots on dynamic characteristics can be neglected, and the ZOAC model can effectively reflects dynamic characteristics of the system (Figure 7). Qe,e is 8 × 1 the generalized external forces vector in the O-XY system
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