Kinematic constraint conditions and dynamic equations of spatial flexible parallel manipulator

Author

Shanzeng, Liu ; Zhencai, Zhu ; Chusheng, Liu ; Lianjie, Zhang ; Yue-qing, Yu

Author_Institution

Sch. of Mech. & Electr. Eng., China Univ. of Min. & Technol., Xuzhou, China

fYear

2011

fDate

15-17 July 2011

Firstpage

5026

Lastpage

5029

Abstract

The primary goal of this research is dynamics modeling and analysis of spatial parallel manipulator with flexible links. A new model of spatial finite element beam model is proposed. The kinematic constraint conditions of the moving platform and the branches of the spatial flexible parallel manipulator are derived. The dynamic model of the moving platform is developed based on the Newton-Euler principle. Then, using the kinematic constraint equations and dynamic model of the moving platform, the overall system dynamic equations of the parallel manipulator are obtained through assembling the dynamic equations of elements. Finally, the numerical simulation of a 3-RRS parallel manipulator was presented and compared with the results of SAMCEF software simulation. The results showed that the effectiveness and correctness of the dynamic models proposed in this paper.

Keywords

finite element analysis; flexible manipulators; manipulator dynamics; manipulator kinematics; 3-RRS parallel manipulator; Newton-Euler principle; dynamic equation; flexible links; kinematic constraint condition; spatial finite element beam model; spatial flexible parallel manipulator; Equations; Finite element methods; Kinematics; Manipulator dynamics; Mathematical model; Numerical models; dynamic model; finite element; flexible; kinematic constraint; parallel manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on

Conference_Location

Hohhot

Print_ISBN

978-1-4244-9436-1

Type

conf

DOI

10.1109/MACE.2011.5988145

Filename

5988145