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Modeling of Configuration-Dependent Flexible Joints for a Parallel Robot
Joint Authors
Mechefske, Chris K.
Xi, Fengfeng (Jeff)
Zhou, Zili
Source
Advances in Mechanical Engineering
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2009-10-15
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper provides a method to determine the variable flexible joint parameters which are dependent on configurations for a PRS Parallel Robot.
Based on the continuous force approach, virtual springs were used between the joint components to simulate the joint flexibility.
The stiffness matrix of the joint virtual springs was derived.
The method uses system dynamic characteristics in different configurations to set the virtual spring stiffness for all the joints in the system.
Modal testing was conducted on a set of selected robot configurations to determine the system natural frequencies and mode shapes along with their variation.
To obtain the virtual spring stiffness, the system was condensed at the joint nodal coordinates.
Then eigen-sensitivity analysis was conducted on the condensed system matrices with respect to the stiffness parameters of the joint virtual springs.
Thus, the virtual spring parameters in the model can be set to match the variation of the system dynamic responses with the robot configuration changes.
The virtual spring parameters between the selected robot configurations were obtained by interpolation.
The research indicates that the method is effective and relatively easy to conduct, compared to other methods.
The variable flexible joint model is applicable to flexible multibody systems with variable configurations.
American Psychological Association (APA)
Zhou, Zili& Mechefske, Chris K.& Xi, Fengfeng (Jeff). 2009. Modeling of Configuration-Dependent Flexible Joints for a Parallel Robot. Advances in Mechanical Engineering،Vol. 2010, no. 2010, pp.1-12.
https://search.emarefa.net/detail/BIM-449260
Modern Language Association (MLA)
Zhou, Zili…[et al.]. Modeling of Configuration-Dependent Flexible Joints for a Parallel Robot. Advances in Mechanical Engineering No. 2010 (2010), pp.1-12.
https://search.emarefa.net/detail/BIM-449260
American Medical Association (AMA)
Zhou, Zili& Mechefske, Chris K.& Xi, Fengfeng (Jeff). Modeling of Configuration-Dependent Flexible Joints for a Parallel Robot. Advances in Mechanical Engineering. 2009. Vol. 2010, no. 2010, pp.1-12.
https://search.emarefa.net/detail/BIM-449260
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-449260