Abstract
In this study, the dynamics behaviors analysis of parallel mechanism considering joint clearance and flexible links are investigated using a computational methodology. The nonlinear dynamic model of 4-UPS-RPS spatial parallel mechanism with clearance in spherical joint and flexible links is established by combining KED method and Lagrange method. The dynamic responses including collision force and motion characteristics of the moving platform are obtained. Chaos and bifurcation are analyzed. The effects of different clearances on the dynamics behaviors of the parallel mechanism are studied. The results show that 4-UPS-RPS spatial parallel mechanism is very sensitive to joint clearance and flexible links, and small variations in the clearance value can cause the mechanism change from periodic motion to chaotic motion. This research provides a methodology for forecasting the dynamics behavior of parallel mechanisms with clearance and flexible links.
Highlights
With the development of modern industry, the parallel mechanism is developing towards light weight, high speed, and high precision [1,2,3]
This paper takes 4-UPS-RPS five-degree-of-freedom spatial parallel mechanism as the object’ a nonlinear dynamic model of the mechanism considering the joint clearance and flexible links is established by combining the KED method and Lagrange method, and the dynamics behaviors of the mechanism are analyzed
The main conclusions are as follows: (i) a nonlinear dynamic model of 4-UPS-RPS spatial parallel mechanism considering clearance and flexible links is established by combining the KED analysis method and Lagrange method. (ii) The dynamic responses including collision force and motion characteristics of the moving platform for 4-UPS-RPS spatial parallel mechanism considering the spherical clearance and flexible links are analyzed
Summary
With the development of modern industry, the parallel mechanism is developing towards light weight, high speed, and high precision [1,2,3]. The previous studies mainly concentrated on planar mechanism and focused on the nonlinearity caused by flexible member, clearance, dry friction, and bearing oil film, respectively, and rarely involved the bifurcation and chaotic behaviors analysis of spatial high-speed parallel mechanism with joint clearance and nonlinear deformation of the limbs. The main purpose of this paper provides a methodology for forecasting the dynamics behavior of parallel mechanisms with clearance and flexible links and selecting appropriate system parameters of the mechanism Under this background, this paper takes 4-UPS-RPS five-degree-of-freedom (namely, two moveable degrees and three rotational degrees) spatial parallel mechanism as the object (see in Figure 1)’ a nonlinear dynamic model of the mechanism considering the joint clearance and flexible links is established by combining the KED method and Lagrange method, and the dynamics behaviors of the mechanism are analyzed
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