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An approach for elastodynamic modeling of hybrid robots based on substructure synthesis technique
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Wu, Long, Wang, Guofeng, Liu, Haitao and Huang, Tian (2018) An approach for elastodynamic modeling of hybrid robots based on substructure synthesis technique. Mechanism and Machine Theory, 123 . pp. 124-136. doi:10.1016/j.mechmachtheory.2017.12.019
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Official URL: http://dx.doi.org/10.1016/j.mechmachtheory.2017.12...
Abstract
Parallel kinematic machines exhibit strong pose-dependent static and dynamic behaviors, which makes accurate and rapid compliance analysis over the entire workspace an important issue in the design optimization. This paper presents a general approach for elastodynamic modeling of parallel kinematic machines using substructure synthesis technique. Firstly, the whole system is decomposed into two groups of substructures, i.e. component substructures and joint substructures. Then, the degrees of freedom of component substructures are reduced using modal reduction technique, and joint substructures are modeled by virtual springs with contact stiffness between adjacent component substructures. Finally, two threads are merged at junction surfaces to offer the equations of motion of the system as a whole, allowing the static and dynamic performances to be rapidly predicted with sufficient accuracy. The dynamic model of a 5-DOF hybrid robot is developed using the proposed method and the computational results show that rigidity and lower mode natural frequencies over the workspace match well with those obtained by the full finite element analysis.
| Item Type: | Journal Article | |||||||||
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| Subjects: | T Technology > TJ Mechanical engineering and machinery | |||||||||
| Divisions: | Faculty of Science > Engineering | |||||||||
| Library of Congress Subject Headings (LCSH): | Robotics, Machine theory, Parallel kinematic machines, Finite element method | |||||||||
| Journal or Publication Title: | Mechanism and Machine Theory | |||||||||
| Publisher: | Pergamon-Elsevier Science Ltd. | |||||||||
| ISSN: | 0094-114X | |||||||||
| Official Date: | May 2018 | |||||||||
| Dates: |
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| Date of first compliant deposit: | 23 February 2018 | |||||||||
| Volume: | 123 | |||||||||
| Page Range: | pp. 124-136 | |||||||||
| DOI: | 10.1016/j.mechmachtheory.2017.12.019 | |||||||||
| Status: | Peer Reviewed | |||||||||
| Publication Status: | Published | |||||||||
| Access rights to Published version: | Restricted or Subscription Access | |||||||||
| RIOXX Funder/Project Grant: |
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