Dynamic characteristic parameters identification analysis of a parallel manipulator with flexible links

作者：Zhu, Chunxia^*; Wang, Jing; Chen, Zhiwen; Liu, Bo

来源：Journal of Mechanical Science and Technology, 2014, 28(12): 4833-4840.

DOI：10.1007/s12206-014-1104-4

• Dynamic parameters identification
• Flexible multi-bodies system
• Parallel manipulator
• Virtual prototype (VP)
• Finite element analysis (FEA)

This paper presents dynamic parameters identification analysis of a 3-TPT parallel manipulator with flexible links by means of simulation and experiment. The 3-TPT mechanism is described in detail, and the dynamic equations of the regarded mechanism are derived analytically based on the Newton's second law. The dynamic simulation model of parallel manipulator with flexible links is built by the integration method of virtual prototyping (VP) and finite element analysis (FEA), which forms the flexible multi-body system of parallel manipulator. Frequency response curves are obtained by applied force on the simulation model, and the stiffness and damping ratio are identified, respectively, from the simulation results. The strategy has been experimentally tested on an actual 3-TPT parallel manipulator. The compared results show that the errors are very small and reasonable scope, so it is feasible for the integration method used as reference and basis for dynamic characteristic. Therefore, the integration simulation method provides a theoretical foundation and reference for dynamic optimal design of parallel manipulator. These analyses and results provide valuable insight into the design and control of the parallel manipulator with flexible links.

• 出版日期2014-12
• 单位沈阳建筑大学