Dynamics of 3-DOF spatial parallel manipulator with flexible links

Author

Shanzeng, Liu ; Zhencai, Zhu ; Bin, Zi ; Chusheng, Liu ; Yueqing, Yu

Author_Institution

Sch. of Mech. & Electr. Eng., China Univ. of Min. & Technol., Xuzhou, China

fYear

2010

fDate

26-28 June 2010

Firstpage

2327

Lastpage

2331

Abstract

The dynamics of 3-DOF spatial parallel manipulators with flexible links were performed. Firstly, a model of spatial flexible beam element was proposed, and the dynamic equations of elements and branches of the parallel manipulator were derived. Secondly, using the kinematic and dynamic constraint equations of the parallel manipulator, the overall system dynamic equations of the parallel manipulator were obtained by assembling the dynamic equations of branches. Thirdly, the dynamic responses of the 3-RRS parallel mechanism with flexible links were analyzed through numerical simulation. This paper can provide necessary information for the dynamic performance analysis, dynamics optimization design and control of the 3-RRS flexible parallel mechanisms.

Keywords

flexible manipulators; manipulator dynamics; manipulator kinematics; 3-DOF spatial parallel manipulator; 3-RRS parallel mechanism; dynamic constraint equation; flexible links; kinematic equation; manipulator dynamics; spatial flexible beam element; Assembly systems; Educational institutions; Electronic mail; Equations; Leg; Manipulator dynamics; Mechanical engineering; Parallel robots; Robot kinematics; Service robots; dynamics; flexible link; parallel manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechanic Automation and Control Engineering (MACE), 2010 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-7737-1

Type

conf

DOI

10.1109/MACE.2010.5535537

Filename

5535537