Finite Element Analysis and Comparison of Two Hybrid Robots-the Tricept and the TriVariant

Author

Wang, Y.Y. ; Huang, T. ; Zhao, X.M. ; Mei, J.P. ; Chetwyn, D.G. ; Hu, S.J.

Author_Institution

Mech. Eng., Tianjin Univ.

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

490

Lastpage

495

Abstract

This paper deals with the finite element analysis (FEA) of two 5-DOF reconfigurable hybrid robots, the Tricept and the TriVariant, by means of ANSYS parametric design language (APDL). The research interests are focused on: (1) precise FEA formulation of different types of joints by setting of contact elements, and (2) the development of an effective modeling strategy for the rapid stiffness and natural frequencies estimation associated with different configurations. The computational results show that two robots are of similar static and dynamic performances provided that they have identical geometrical dimensions, elastical and inertial parameters

Keywords

finite element analysis; robot kinematics; ANSYS parametric design language; TriVariant; Tricept; finite element analysis; parallel kinematics; reconfigurable hybrid robots; Aerodynamics; Aerospace industry; Finite element methods; Intelligent robots; Kinematics; Mechanical engineering; Modal analysis; Parallel robots; Service robots; Vehicle dynamics; Finite element analysis; Parallel kinematic machines (PKMs); The TriVariant robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282522

Filename

4059210