A novel flexible assistant parallel mechanism and dynamic analyses

Author

Liu, Hongjun ; Zhao Shuai ; Li Shuai ; Zhang Qingfei

Author_Institution

Coll. of Mech. Eng., Shenyang Ligong Univ., Shenyang, China

fYear

2010

fDate

20-23 June 2010

Firstpage

861

Lastpage

866

Abstract

Due to the existence of the hinge, the parallel mechanism´s high precision and high stiffness´ characteristics in theory have been greatly affected. Based on a kind of 4-DOF parallel mechanism for cutting and the principle of prestressing to additional fixed tension flexible servo mechanism, the paper presents a novel flexible assistant parallel mechanism and then the new mechanism characteristics are analyzed. Each sub chain is formulated with the D-H coordinate, and then the dynamic model is established with Newton - Euler method. Finally the paper simulates the dynamic model by the Matlab software. The simulation results indicate the mechanism´s dynamic character.

Keywords

Newton method; elastic constants; fasteners; flexible structures; 4-DOF parallel mechanism; D-H coordinate; Matlab software; Newton-Euler method; dynamic analyses; fixed tension flexible servo mechanism; flexible assistant parallel mechanism; high precision characteristics; high stiffness characteristics; Educational institutions; Equations; Fasteners; Joining processes; Kinematics; Mathematical model; Mechanical engineering; Pulleys; Servomechanisms; Servomotors; D-H coordinate; Flexible; Newton - Euler method; Parallel mechanism;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2010 IEEE International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-5701-4

Type

conf

DOI

10.1109/ICINFA.2010.5512454

Filename

5512454