Chinese Journal of Mechanical Engineering >

2022 , Vol. 35 >Issue 2: 33 - 33

DOI: https://doi.org/10.1186/s10033-022-00693-5

Mechanism and Robotics

Dynamic Accuracy Analysis of a 5PSS/UPU Parallel Mechanism Based on Rigid-Flexible Coupled Modeling

  • Yanbiao Li ,
  • Zesheng Wang ,
  • Chaoqun Chen ,
  • Taotao Xu ,
  • Bo Chen
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  • 1. College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, 310023, China;
    2. Key Laboratory of E & M, Ministry of Education & Zhejiang Province, Zhejiang University of Technology, Hangzhou, 310023, China

收稿日期: 2020-12-15

  修回日期: 2022-01-06

  网络出版日期: 2022-06-30

基金资助

Supported by the National Natural Science Foundation of China (Grant Nos. U21A20122, 51975523 and 51905481); the Natural Science Foundation of Zhejiang Province (Grant No. LY22E050012); and the Students in Zhejiang Province Science and technology Innovation Plan (Grant No. 2020R403054)

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Dynamic Accuracy Analysis of a 5PSS/UPU Parallel Mechanism Based on Rigid-Flexible Coupled Modeling

  • Yanbiao Li ,
  • Zesheng Wang ,
  • Chaoqun Chen ,
  • Taotao Xu ,
  • Bo Chen
Expand
  • 1. College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, 310023, China;
    2. Key Laboratory of E & M, Ministry of Education & Zhejiang Province, Zhejiang University of Technology, Hangzhou, 310023, China

Received date: 2020-12-15

  Revised date: 2022-01-06

  Online published: 2022-06-30

Supported by

Supported by the National Natural Science Foundation of China (Grant Nos. U21A20122, 51975523 and 51905481); the Natural Science Foundation of Zhejiang Province (Grant No. LY22E050012); and the Students in Zhejiang Province Science and technology Innovation Plan (Grant No. 2020R403054)

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摘要

In order to improve the low output accuracy caused by the elastic deformations of the branch chains, a finite element-based dynamic accuracy analysis method for parallel mechanisms is proposed in this paper. First, taking a 5-prismatic-spherical-spherical (PSS)/universal-prismatic-universal (UPU) parallel mechanism as an example, the error model is established by a closed vector chain method, while its influence on the dynamic accuracy of the parallel mechanism is analyzed through numerical simulation. According to the structural and error characteristics of the parallel mechanism, a vector calibration algorithm is proposed to reduce the position and pose errors along the whole motion trajectory. Then, considering the elastic deformation of the rod, the rigid-flexible coupling dynamic equations of each component are established by combining the finite element method with the Lagrange method. The elastodynamic model of the whole machine is obtained based on the constraint condition of each moving part, and the correctness of the model is verified by simulation. Moreover, the effect of component flexibility on the dimensionless root mean square error of the displacement, velocity and acceleration of the moving platform is investigated by using a Newmark method, and the mapping relationship of these dimensionless root mean square errors to dynamic accuracy is further studied. The research work provides a theoretical basis for the design of the parameter size of the prototype.

关键词： Parallel mechanism; Geometric error; Calibration algorithm; Elastodynamic model; Dynamic accuracy

本文引用格式

Yanbiao Li , Zesheng Wang , Chaoqun Chen , Taotao Xu , Bo Chen . Dynamic Accuracy Analysis of a 5PSS/UPU Parallel Mechanism Based on Rigid-Flexible Coupled Modeling[J]. Chinese Journal of Mechanical Engineering, 2022 , 35(2) : 33 -33 . DOI: 10.1186/s10033-022-00693-5

Abstract

In order to improve the low output accuracy caused by the elastic deformations of the branch chains, a finite element-based dynamic accuracy analysis method for parallel mechanisms is proposed in this paper. First, taking a 5-prismatic-spherical-spherical (PSS)/universal-prismatic-universal (UPU) parallel mechanism as an example, the error model is established by a closed vector chain method, while its influence on the dynamic accuracy of the parallel mechanism is analyzed through numerical simulation. According to the structural and error characteristics of the parallel mechanism, a vector calibration algorithm is proposed to reduce the position and pose errors along the whole motion trajectory. Then, considering the elastic deformation of the rod, the rigid-flexible coupling dynamic equations of each component are established by combining the finite element method with the Lagrange method. The elastodynamic model of the whole machine is obtained based on the constraint condition of each moving part, and the correctness of the model is verified by simulation. Moreover, the effect of component flexibility on the dimensionless root mean square error of the displacement, velocity and acceleration of the moving platform is investigated by using a Newmark method, and the mapping relationship of these dimensionless root mean square errors to dynamic accuracy is further studied. The research work provides a theoretical basis for the design of the parameter size of the prototype.

Key words： Parallel mechanism; Geometric error; Calibration algorithm; Elastodynamic model; Dynamic accuracy

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