Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions
Joint Authors
Li, Wei
Wang, Yuqiao
Fan, Mengbao
Yang, Xuefeng
Sheng, Lianchao
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-07-12
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
Due to the complexity of the dynamic model of a planar 3-RRR flexible parallel manipulator (FPM), it is often difficult to achieve active vibration control algorithm based on the system dynamic model.
To establish a simple and efficient dynamic model of the planar 3-RRR FPM to study its dynamic characteristics and build a controller conveniently, firstly, considering the effect of rigid-flexible coupling and the moment of inertia at the end of the flexible intermediate link, the modal function is determined with the pinned-free boundary condition.
Then, considering the main vibration modes of the system, a high-efficiency coupling dynamic model is established on the basis of guaranteeing the model control accuracy.
According to the model, the modal characteristics of the flexible intermediate link are analyzed and compared with the modal test results.
The results show that the model can effectively reflect the main vibration modes of the planar 3-RRR FPM; in addition the model can be used to analyze the effects of inertial and coupling forces on the dynamics model and the drive torque of the drive motor.
Because this model is of the less dynamic parameters, it is convenient to carry out the control program.
American Psychological Association (APA)
Sheng, Lianchao& Li, Wei& Wang, Yuqiao& Fan, Mengbao& Yang, Xuefeng. 2017. Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions. Shock and Vibration،Vol. 2017, no. 2017, pp.1-13.
https://search.emarefa.net/detail/BIM-1204000
Modern Language Association (MLA)
Sheng, Lianchao…[et al.]. Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions. Shock and Vibration No. 2017 (2017), pp.1-13.
https://search.emarefa.net/detail/BIM-1204000
American Medical Association (AMA)
Sheng, Lianchao& Li, Wei& Wang, Yuqiao& Fan, Mengbao& Yang, Xuefeng. Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions. Shock and Vibration. 2017. Vol. 2017, no. 2017, pp.1-13.
https://search.emarefa.net/detail/BIM-1204000
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1204000