Elastic Deformations Of Links Research Articles

Analysis of the dynamic stress of planar flexible-links parallel robots

This paper presents a method for the dynamic stress analysis of planar parallel robots with flexible links and a rigid moving platform. The finite element-based dynamic model of flexible parallel robots is proposed. The relation between elastic deformations and elastic displacements of the flexible links is investigated, considering the coupling effects of elastic motion and rigid motion. The elastic deformations of links are calculated. Considering the effects of bending-shearing strain and tensile-compression strain, the dynamic stress of the links and its position are derived by using the Kineto-Elastodynamics theory and the Timoshenko beam theory. Due to the flexibility of the links, the dynamic stresses are well illustrated through numerical simulation. Compared with the results of the finite element software SAMCEF, the numerical simulation results show the good coherence and advantages of the analysis method. The dynamic stress analysis is demonstrated to have a significant impact on the analysis, design and control of flexible parallel robots.

層配置を考慮した搬送機構の総合

In the present paper, about planar 9-link conveying machine which is not discussed with consideration of layer arrangements of moving links, conditions which determine the minimum number of layers required to construct the conveying machine are formulated. Based on the above results, link profiles avoided mutual interferences among moving links are determined with consideration of the relative location of links on the same layer during a cycle of motion. In order to discuss the influence of profiles and elastic deformations of links and the differences of layer arrangements of moving links upon the link displacements from the ideal planes of motion of links, the dynamic characteristics of the machine are investigated experimentally.

A dynamic analysis of planar mechanisms with consideration of layer arrangements of moving links.

The influence of layer arrangements of moving links upon the dynamic characteristics of mechanisms is one of the important problems which must be solved for the improvement of performances of mechanisms. In this paper, on planar mechanisms consideration is given to layer arrangements of moving links, and equations of motion of the mechanisms taking account of elastic deformations of links are formulated by dividing moving links into several components which consist of distributed mass. Applying the equations to planar four-bar mechanisms whose coupler and follower are elastic links, we discuss the influences of the profiles and elastic deformations of links and the differences of layer arrangements of moving links upon the link displacements from the ideal planes of motion of links together with the results of experiments.