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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

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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
Subjects: Q Science > QC Physics
T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TS Manufactures
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:
DateEvent
February 2021Published
3 July 2020Available
17 June 2020Accepted
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:
Project/Grant IDRIOXX Funder NameFunder ID
2017YFB1301800Key Technologies Research and Development Programhttp://dx.doi.org/10.13039/501100012165
51622508 [NSFC] National Natural Science Foundation of Chinahttp://dx.doi.org/10.13039/501100001809
51420105007[NSFC] National Natural Science Foundation of Chinahttp://dx.doi.org/10.13039/501100001809
734272Horizon 2020 Framework Programmehttp://dx.doi.org/10.13039/100010661

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