Elastodynamic Modeling and Optimization of Parallel Mechanism with Tube Structure

Abstract

Elastodynamic model of parallel mechanism is important to elastodynamic optimization. Long prismatic pairs composed of tube structure are very common in the parallel mechanism. This work uses the kinematic pair equivalent method to simulate the surface contact of outer and inner tubes. Corresponding mass and stiffness matrix are derived through the strain energy minimization method with matrix structural analysis. The reconfigurable legged lunar lander has been used as an example to verify the effectiveness of the method. Equivalent static loads and desirability approach are introduced and modified to optimize the elastodynamics of parallel mechanism. The optimization is implemented on the lander and the result shows a good reduction in mass and an increase in natural frequency.