Abstract
This paper deals with the elastodynamic modeling and parameter sensitivity analysis of a parallel manipulator with articulated traveling plate (PM-ATP) for assembling large components in aviation and aerospace. In the elastodynamic modeling, the PM-ATP is divided into four levels, i.e., element, part, substructure, and the whole mechanism. Herein, three substructures, including translation, bar, and ATP, are categorized according to the composition of the PM-ATP. Based on the kineto-elastodynamic (KED) method, differential motion equations of lower levels are formulated and assembled to build the elastodynamic model of the upper level. Degrees of freedom (DoFs) at connecting nodes of parts and deformation compatibility conditions of substructures are considered in the assembling. The proposed layer-by-layer method makes the modeling process more explicit, especially for the ATP having complex structures and multiple joints. Simulations by finite element software and experiments by dynamic testing system are carried out to verify the natural frequencies of the PM-ATP, which show consistency with the results from the analytical model. In the parameter sensitivity analysis, response surface method (RSM) is applied to formulate the surrogate model between the elastic dynamic performances and parameters. On this basis, differentiation of performance reliability to the parameter mean value and standard variance are adopted as the sensitivity indices, from which the main parameters that greatly affect the elastic dynamic performances can be selected as the design variables. The present works are necessary preparations for future optimal design. They can also provide reference for the analysis and evaluation of other PM-ATPs.
Highlights
Parallel manipulator with articulated traveling plate (PMATP) is one of the most well-recognized mechanisms in the research community of parallel manipulators [1, 2]
Since the studied parallel manipulator with articulated traveling plate (PM-ATP) is targeted for assembling large components, elastodynamic performance [34, 35] catering on large loadcarrying, lightweight structure and small deflections is of importance
Performance indices such as natural frequency or elastic deformations can be adopted as objectives in the optimal design, which require for the mapping model between the elastodynamic performances and the structural parameters
Summary
Parallel manipulator with articulated traveling plate (PMATP) is one of the most well-recognized mechanisms in the research community of parallel manipulators [1, 2]. Since the studied PM-ATP is targeted for assembling large components, elastodynamic performance [34, 35] catering on large loadcarrying, lightweight structure and small deflections is of importance Performance indices such as natural frequency or elastic deformations can be adopted as objectives in the optimal design, which require for the mapping model between the elastodynamic performances and the structural parameters. The elastic deformations of the links are coupled with the pick-and-place motions, resulting in an ongoing trend of applying flexible multibody dynamic methods to model the elastodynamic performances [36,37,38]. In the KED framework, the motions of PM-ATP are firstly analyzed by the rigid body kinematics, and the elastic deformations computed by the structural dynamics at each instantaneous moment are added.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The International Journal of Advanced Manufacturing Technology
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
