Title :
Dynamic analysis of planar 3-RRR flexible parallel robot
Author :
Qinghua Zhang ; Xianmin Zhang ; Jinglun Liang
Author_Institution :
Guangdong Province Key Lab. of Precision Equip. & Manuf. Technol., Guangzhou, China
Abstract :
The light flexible parallel robots with high-acceleration, high precision are widely used in industry, e.g. in the electronic assembly industry, precision machining and measurement field, aerospace industry and so on. The planar 3-RRR flexible parallel robot is investigated in this paper. Based on the floating frame of reference, Lagrange equation and the principle of virtual work, and in consideration of lumped mass and lumped moment of inertia of the joint and the coupling quantity of axial displacement caused by the transverse displacement of beam, the rigid-flexible coupling dynamic model is presented. Then the dynamic characteristics of the system are studied through numerical simulations that include frequency characteristics, sensitivity analysis, model analysis and dynamic stress analysis. It is essential for the optimum design and the vibration active control system design.
Keywords :
control system synthesis; numerical analysis; robot dynamics; stress analysis; vibration control; Lagrange equation; aerospace industry; axial displacement; dynamic analysis; dynamic stress analysis; electronic assembly industry; floating reference frame; high-acceleration; measurement field; model analysis; numerical simulations; optimum design; planar 3-RRR flexible parallel robot; precision machining; rigid-flexible coupling dynamic model; sensitivity analysis; transverse beam displacement; vibration active control system design; virtual work;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4673-2125-9
DOI :
10.1109/ROBIO.2012.6490959
