Elasto-dynamic analysis of a novel 2-dof rotational parallel mechanism with an articulated travelling platform. (English) Zbl 1478.70003
Summary: This paper carries out the elasto-dynamic analysis of a novel 2 degrees-of-freedom (DoF) rotational parallel mechanism (RPM) with an articulated travelling platform by means of kineto-elasto dynamic method. The architecture of the proposed 2-DoF RPM is firstly described, and then its kinematic analysis is carried out by closed-loop vector method. On the basis of finite element analysis, the elasto-dynamic models of movable components are established before assembling to formulate the elasto-dynamic equations of the whole mechanism in the light of deformation compatibility conditions. The free vibration equation is then achieved to evaluate the natural frequency of the novel 2-DoF RPM. Finally, an example is illustrated and the results are verified by finite element software. It shows that the relatively high natural frequencies and good dynamic performance make the novel 2-DoF RPM a promising solution for pose-adjusting module of 5-DoF machine centre.
References:
| [1] | Li YG, Liu HT, Zhao XM, Huang T, Chetwynd DG (2010) Design of a 3-DOF PKM module for large structural component machining. Mech Mach Theory 45(6):941-954 · Zbl 1359.70027 · doi:10.1016/j.mechmachtheory.2010.01.008 |
| [2] | Neumann KE (2002) Tricept applications. In: Proceedings of the 3rd Chemnitz parallel kinematics seminar, Zwickau, Germany, pp 547-551 · Zbl 1293.70042 |
| [3] | Bruno S (1999) The Tricept robot: inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm. Robotica 17(4):437-445 · doi:10.1017/S0263574799001678 |
| [4] | Sun T, Song YM, Li YG, Zhang J (2010) Workspace decomposition based dimensional synthesis of a novel hybrid reconfigurable robot. ASME J Mech Robot 2(3):031009 · doi:10.1115/1.4001781 |
| [5] | Song YM, Lian BB, Sun T, Dong G, Qi Y (2014) A novel 5-DoF fully parallel manipulator and its kinematic optimization. ASME J Mech Robot 6(4):041008 · doi:10.1115/1.4027742 |
| [6] | Palpacelli M, Palmieri G, Carbonari L, Callegari M (2014) Experimental identification of the static model of the HPKM Tricept industrial robot. Adv Robot 28(19):1291-1304 · doi:10.1080/01691864.2014.933127 |
| [7] | Kong XW (2011) Forward displacement analysis and singularity analysis of a special 2-DOF 5R spherical parallel manipulator. ASME J Mech Robot 3(2):024501 · doi:10.1115/1.4003445 |
| [8] | Wu C, Liu XJ, Wang LP, Wang JS (2010) Optimal design of spherical 5R parallel manipulators considering the motion/force transmissibility. ASME J Mech Des 132(3):031002 · doi:10.1115/1.4001129 |
| [9] | Wu C, Liu XJ, Wang JS (2009) Force transmission analysis of spherical 5R parallel manipulators. In: Proceedings of the international conference on reconfigurable mechanisms and robots, London, England: 331-336 |
| [10] | Baumann R, Maeder W, Glauser D (1997) The PantoScope: a spherical remote-center-of-motion parallel manipulator for force reflection. In: Proceedings of the 1997 IEEE international conference on robotics and automation, Albuquerque, New Mexico |
| [11] | Gosselin C, Caron F (1999) Two degree-of-freedom spherical orienting device. US Patent 5,966,991 |
| [12] | Rosheim ME, Sauter GF (2002) New high-angulation omni-directional sensor mount. In: International symposium on optical science and technology. International society for optics and photonics, pp 163-174 |
| [13] | Sofka J, Skormin V, Nikulin V, Nicholson DJ (2006) Omni-Wrist III-a new generation of pointing devices. Part I. Laser beam steering devices-mathematical modeling. IEEE T Aero Elec Sys 42(2):718-725 · doi:10.1109/TAES.2006.1642584 |
| [14] | Chen B, Zong GH, Yu JJ, Dong X (2013) Dynamic modeling and analysis of 2-DOF quasi-sphere parallel platform. Chin J Mech Eng-En 49(13):24-31 · doi:10.3901/JME.2013.13.024 |
| [15] | Liu XJ, Wang JS, Xie FG (2008) A decoupled parallel spindle structure. CN Patent 101,269,465 |
| [16] | Song YM, Dong G, Sun T, Zhao XM, Wang PF (2012) A novel parallel mechanism with two rotational degrees-of-freedom. CN Patent 2,012,105,131,575 |
| [17] | Zhang C, Huang YQ, Wang ZL, Chen SX (1997) Analysis and design of the elastic linkages, 2nd edn. China Machine Press, Beijing |
| [18] | Bhatti MA (2005) Fundamental finite element analysis and applications. Wiley, Canada · Zbl 1321.65002 |
| [19] | Palmieri G, Martarelli M, Palpacelli MC, Carbonari L (2014) Configuration-dependent modal analysis of a cartesian parallel kinematics manipulator: numerical modeling and experimental validation. Meccanica 49(4):961-972 · Zbl 1293.70042 · doi:10.1007/s11012-013-9842-4 |
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.
