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An approach to predict lower-order dynamic behaviors of a 5-DOF hybrid robot using a minimum set of generalized coordinates
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Wu, Long, Dong, Chenglin, Wang, Guofeng, Liu, Haitao and Huang, Tian (2021) An approach to predict lower-order dynamic behaviors of a 5-DOF hybrid robot using a minimum set of generalized coordinates. Robotics and Computer-Integrated Manufacturing, 67 . 102024. doi:10.1016/j.rcim.2020.102024
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Official URL: http://dx.doi.org/10.1016/j.rcim.2020.102024
Abstract
This paper presents an effective semi-analytical approach for predicting lower-order dynamics of a five degrees-of-freedom (DOF) hybrid robot named TriMule, which is composed of a 3-DOF parallel mechanism plus a 2-DOF A/C wrist. In this method, the governing equations of motion of limbs within the parallel mechanism are first formulated by finite element analysis (FEA) and then reduced to super-element models. This is followed by exploiting a general stiffness model of multiple DOF joints connecting the super-elements. These two threads lead to the reduced dynamic model of the parallel mechanism while keeping the full set of lower-order modes retained. Finally, the dynamic model of entire system is established by merging the models of parallel mechanism and wrist. The computational results show that the lower-order natural frequencies, mode shapes of the entire system, and the frequency response functions (FRFs) of the robot tool center point (TCP) estimated by the proposed approach have very good agreement with those obtained by a full order FE model and experimental modal tests. The merits of this approach lie in that the established model allows the full set of lower-order dynamics of the entire system to be predicted effectively and accurately by only using fourteen generalized coordinates.
| Item Type: | Journal Article | |||||||||||||||
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| Subjects: | Q Science > QC Physics T Technology > TA Engineering (General). Civil engineering (General) T Technology > TS Manufactures |
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| Divisions: | Faculty of Science > Engineering | |||||||||||||||
| Library of Congress Subject Headings (LCSH): | Parallel kinematic machines , Structural dynamics, Dynamics, Finite element method, Degree of freedom | |||||||||||||||
| Journal or Publication Title: | Robotics and Computer-Integrated Manufacturing | |||||||||||||||
| Publisher: | Elsevier | |||||||||||||||
| ISSN: | 0736-5845 | |||||||||||||||
| Official Date: | February 2021 | |||||||||||||||
| Dates: |
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| Date of first compliant deposit: | 26 October 2020 | |||||||||||||||
| Volume: | 67 | |||||||||||||||
| Article Number: | 102024 | |||||||||||||||
| DOI: | 10.1016/j.rcim.2020.102024 | |||||||||||||||
| Status: | Peer Reviewed | |||||||||||||||
| Publication Status: | Published | |||||||||||||||
| Access rights to Published version: | Restricted or Subscription Access | |||||||||||||||
| RIOXX Funder/Project Grant: |
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