Chinese Journal of Mechanical Engineering >

2020 , Vol. 33 >Issue 3: 44 - 44

DOI: https://doi.org/10.1186/s10033-020-00460-4

Mechanism and Robotics

Dynamic Modeling and Analysis of 5-PSS/ UPU Parallel Mechanism with Elastically Active Branched Chains

  • Yanbiao Li ,
  • Hang Zheng ,
  • Bo Chen ,
  • Peng Sun ,
  • Zesheng Wang ,
  • Kun Shuai ,
  • Yi Yue
展开
  • 1. Key Laboratory of E & M, Ministry of Education & Zhejiang Province, Zhejiang University of Technology, Hangzhou, 310032, China;
    2. Shanghai Aerospace Equipments Manufacturer Co., Ltd., Shanghai 200245, China

收稿日期: 2019-09-16

  修回日期: 2020-04-01

  网络出版日期: 2020-08-01

基金资助

Supported by Zhejiang Provincial Natural Science Foundation of China(Grant No.LR18E050003), National Natural Science Foundation of China(Grant Nos. 51975523, 51905481), Postdoctoral Preferred Funding Project of Zhejiang Province(Grant No.zj2019019), and Open Foundation of the Key Laboratory of E & M, Ministry of Education & Zhejiang Province(Grant No.EM2019120102)

收起

Dynamic Modeling and Analysis of 5-PSS/ UPU Parallel Mechanism with Elastically Active Branched Chains

  • Yanbiao Li ,
  • Hang Zheng ,
  • Bo Chen ,
  • Peng Sun ,
  • Zesheng Wang ,
  • Kun Shuai ,
  • Yi Yue
Expand
  • 1. Key Laboratory of E & M, Ministry of Education & Zhejiang Province, Zhejiang University of Technology, Hangzhou, 310032, China;
    2. Shanghai Aerospace Equipments Manufacturer Co., Ltd., Shanghai 200245, China

Received date: 2019-09-16

  Revised date: 2020-04-01

  Online published: 2020-08-01

Supported by

Supported by Zhejiang Provincial Natural Science Foundation of China(Grant No.LR18E050003), National Natural Science Foundation of China(Grant Nos. 51975523, 51905481), Postdoctoral Preferred Funding Project of Zhejiang Province(Grant No.zj2019019), and Open Foundation of the Key Laboratory of E & M, Ministry of Education & Zhejiang Province(Grant No.EM2019120102)

Fold

摘要

To study the characteristics of the 5-prismatic-spherical-spherical (PSS)/universal-prismatic-universal (UPU) parallel mechanism with elastically active branched chains, the dynamics modeling and solutions of the parallel mechanism were investigated. First, the active branched chains and screw sliders were considered as spatial beam elements and plane beam element models, respectively, and the dynamic equations of each element model were derived using the Lagrange method. Second, the equations of the 5-PSS/UPU parallel mechanism were obtained according to the kinematic coupling relationship between the active branched chains and moving platform. Finally, based on the parallel mechanism dynamic equations, the natural frequency distribution of the 5-PSS/UPU parallel mechanism in the working space and elastic displacement of the moving platform were obtained. The results show that the natural frequency of the 5-PSS/UPU parallel mechanism under a given motion situation is greater than its operating frequency. The maximum position error is -?0.096 mm in direction Y, and the maximum orientation error is -?0.29° around the X-axis. The study provides important information for analyzing the dynamic performance, dynamic optimization design, and dynamic control of the 5-PSS/UPU parallel mechanism with elastically active branched chains.

关键词： 5-PSS/UPU parallel mechanism; Finite element; Dynamic analysis; Natural frequency; Elastic displacement

本文引用格式

Yanbiao Li , Hang Zheng , Bo Chen , Peng Sun , Zesheng Wang , Kun Shuai , Yi Yue . Dynamic Modeling and Analysis of 5-PSS/ UPU Parallel Mechanism with Elastically Active Branched Chains[J]. Chinese Journal of Mechanical Engineering, 2020 , 33(3) : 44 -44 . DOI: 10.1186/s10033-020-00460-4

Abstract

To study the characteristics of the 5-prismatic-spherical-spherical (PSS)/universal-prismatic-universal (UPU) parallel mechanism with elastically active branched chains, the dynamics modeling and solutions of the parallel mechanism were investigated. First, the active branched chains and screw sliders were considered as spatial beam elements and plane beam element models, respectively, and the dynamic equations of each element model were derived using the Lagrange method. Second, the equations of the 5-PSS/UPU parallel mechanism were obtained according to the kinematic coupling relationship between the active branched chains and moving platform. Finally, based on the parallel mechanism dynamic equations, the natural frequency distribution of the 5-PSS/UPU parallel mechanism in the working space and elastic displacement of the moving platform were obtained. The results show that the natural frequency of the 5-PSS/UPU parallel mechanism under a given motion situation is greater than its operating frequency. The maximum position error is -?0.096 mm in direction Y, and the maximum orientation error is -?0.29° around the X-axis. The study provides important information for analyzing the dynamic performance, dynamic optimization design, and dynamic control of the 5-PSS/UPU parallel mechanism with elastically active branched chains.

Key words： 5-PSS/UPU parallel mechanism; Finite element; Dynamic analysis; Natural frequency; Elastic displacement

参考文献

[1] C C H Lin, M H Shen, M Y Chou, et al. Concentric traveling ionospheric disturbances triggered by the launch of a SpaceX Falcon 9 rocket. Geophysical Research Letters, 2017, 44(15): 7578–7586.
[2] S Hadden, T Davis, P Buchele, et al. Heavy load vibration isolation system for airborne payloads. Proceedings of SPIE-The International Society for Optical Engineering, 2001, 4332: 171–182.
[3] P A Fischer. Safety advances in marine personnel transfer-A dutch invention makes offshore access from a moving vessel to a fixed platform much safer. World Oil, 2008: 67.
[4] L J Zhang, F Guo, Y Q Li, et al. Global dynamic modeling of electrohydraulic 3-UPS/S parallel stabilized platform by bond graph. Chinese Journal of Mechanical Engineering, 2016, 29(6): 141-150.
[5] W Ye, Q C Li, X X Chai. New family of 3-DOF UP-equivalent parallel mechanisms with high rotational capability. Chinese Journal of Mechanical Engineering, 2018, 31(1): 57-68.
[6] Y B Li, L Wang, B Chen, et al. Optimization of dynamic load distribution of a serial-parallel hybrid humanoid arm. Mechanism and Machine Theory, 2020, 149: 103792.
[7] Y B Li, H Zheng, P Sun, et al. Dynamic modeling with joint friction and research on the inertia coupling property of a 5-PSS/UPU parallel manipulator. Journal of Mechanical Engineering, 2019, 55(03): 43–52. (in Chinese)
[8] C Y Zhang, L K Song, C W Fei, et al. Advanced extremum response surface method for dynamic reliabliity analysis on flexible mechanism. Journal of Mechanical Engineering, 2017, 53(07): 47–54. (in Chinese)
[9] P Sun, Y B Li, Z S Wang, et al. Inverse displacement analysis of a novel hybrid humanoid robotic arm. Mechanism and Machine Theory, 2020, 147: 103743.
[10] Z Y Piao, Z Zhou, J Xu, et al. Use of X-ray computed tomography to investigate rolling contact cracks in plasma sprayed Fe-Cr-B-Si coating. Tribology Letters, 2019, 67: 11.
[11] Z S Chen, M X Kong, C Ji, et al. An efficient dynamic modeling approach for high-speed planar parallel manipulator with flexible links. Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science, 2015, 229(4): 663–678.
[12] Z Y Zhou, G L Yu, Q Y Zheng, et al. Wear behavior of 7075-aluminum after ultrasonic-assisted surface burnishing. Journal of Manufacturing Processes, 2020, 51: 1–9.
[13] Z S Chen, M X Kong, C Ji, et al. An efficient dynamic modeling approach for high-speed planar parallel manipulator with flexible links. Proceedings of the Institution of Mechanical Engineers Part C–Journal of Mechanical Engineering Science, 2015, 229(4): 663–678
[14] K F Xie, H Zhang, S Z Liu, et al. Space dynamic modeling and analysis of offshore HUS flexible parallel platform. Acta Armamentarii, 2017, 38(03): 512–519. (in Chinese)
[15] A E Firoozabadi, S Ebrahimi, G Amirian. Dynamic characteristics of a 3RPR planar parallel manipulator with flexible intermediate links. Robotica, 2015, 33(9): 1909–1925.
[16] Q Zhang, J K Mills, W L Cleghorn, et al. Dynamic model and input shaping control of a flexible link parallel manipulator considering the exact boundary conditions. Robotica, 2015, 33(6): 1201–1230.
[17] S Liu, Y Yu, Z Zhu, et al. Dynamic modeling and analysis of 3-RRS parallel manipulator with flexible links. Journal of Central South University of Technology, 2010, 17(2): 323–331.
[18] A Fattah, J Angeles, A K Misra. Dynamics of a 3-DOF spatial parallel manipulator with flexible links. Proceedings of IEEE International Conference on Robotics and Automation, 1995, 1: 627–633.
[19] X Y Zhao, T Huang. Dynamic analysis of parallel equipment based on substructure technology. Natural Science Progress, 2005(7): 849–855. (in Chinese)
[20] K F Xie, H Zheng, S Z Liu, et al. Space dynamic modeling and analysis of offshore HUS flexible parallel platform. Acta Armamentarii, 2017, 38(3): 512–519. (in Chinese)
[21] Y Zhao, F Gao. Dynamic performance comparison of the 8-PSS redundant parallel manipulator and its non-redundant counterpart-the 6PSS parallel manipulator. Mechanism and Machine Theory, 2009, 44(5): 991–1008.
[22] X L Shan, G Cheng. Explicit dynamic modeling of a 3SPS+1PS parallel manipulator with joint friction. Journal of Mechanical Engineering, 2017, 53(1): 28–35. (in Chinese)
[23] Y B Li, H Zheng, M R Xu, et al. Multi–target parameters of performance optimization for 5-PSS/UPU parallel mechanism. Journal of Zhejiang University, 2019, 53(4): 654–663. (in Chinese)
[24] Y B Li, T T Xu, H Zheng, et al. Dynamic characteristics of spatial parallel mechanism with spherical joint clearance. Journal of Zhejiang University, 2020, 54(2): 348–356. (in Chinese)
[25] K F Xie. Research on dynamic characteristic and attitude stablilization control for offshore small floating platform. Nanjing University of Science & Technology, 2017. (in Chinese)
[26] J Wang, H Dong, Z D Wang, et al. Elastic dynamics modeling and analysis of 3-CpaRR decoupling parallel mechanism. Computer Ingrated Manufacturing Systems, 2019, 25(09): 2167–2179. (in Chinese)
[27] A Kermanian, E A Kamali, A Taghvaeipour. Dynamic analysis of flexible parallel robots via enhanced co-rotational and rigid finite element formulations. Mechanism and Machine Theory, 2019, 139: 144–173.
[28] S Liu. Dynamics modeling and frequency analysis of a 3-RRS flexible parallel manipulator. China Mechanical Engineering, 2008, 19(10): 1219–1224.
[29] J Wu, T Li, J Wang, et al. Stiffness and natural frequency of a 3–DOF parallel manipulator with consideration of additional leg candidates. Robotics & Autonomous Systems, 2013, 61(8): 868–875.
[30] Z Y Piao, B S Xu, H D Wang, et al. Rolling contact fatigue behavior of thermal-sprayed coating: A review. Critical Reviews in Solid State and Materials Sciences, https://doi.org/10.1080/10408436.2019.1671798.
[31] K J Bathe, E L Wilson. Numerical methods in finite element analysis. Mathematics of Computation, 1977, 31(139): 799–800.
Options
文章导航

/

〈 〉

版权所有 © 《Chinese Journal of Mechanical Engineering》编辑部

技术支持：北京玛格泰克科技发展有限公司