Dynamic and motion consistency analysis for a planar parallel mechanism with revolute dry clearance joints

Xu, Bin; Ji, Xiaomin; Tong, Ruiting; Xue, Yanmin

doi:10.1007/s12206-017-0609-z

Cited by 12 publications

(9 citation statements)

References 23 publications

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“…[203] studied the effects of the restitution coefficient and material characteristics on the dynamic response of a planar rigid slider-crank mechanism with a revolute clearance joint between the connecting rod and slider. Xu et al [204] studied the dynamic characteristics and motion consistency of a planar rigid parallel mechanism with two dry friction revolute clearance joints.…”

Section: Clearance Circlementioning

confidence: 99%

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

Tian

Flores

Lankarani

2018

Mechanism and Machine Theory

306

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A comprehensive survey of the literature of the most relevant analytical, numerical, and experimental approaches for the kinematic and dynamic analyses of multibody mechanical systems with clearance joints is presented in this review. Both dry and lubricated clearance joints are addressed here, and an effort is made to include a large number of research works in this particular field, which have been published since the 1960's. First, the most frequently utilized methods for modeling planar and spatial multibody mechanical systems with clearance joints are analyzed, and compared. Other important phenomena commonly associated with clearance joint models, such as wear, non-smooth behavior, optimization and control, chaos, and uncertainty and links' flexibility, are then discussed. The main assumptions procedures and conclusions for the different methodologies are also examined and compared. Finally, future developments and new applications of clearance joint modeling and analysis are highlighted.

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Section: Clearance Circlementioning

confidence: 99%

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

Tian

Flores

Lankarani

2018

Mechanism and Machine Theory

306

View full text Add to dashboard Cite

show abstract

“…To build the dynamics model of the delta parallel mechanism, the constraint equations among rigid bodies can be formulated as [ 42 ]:

where K (*,#) represents the constraint equation between * and #, q denotes rigid cylinder body, and l stands for the moving platform. Then the dynamics model of delta parallel mechanism can be expressed as:

where N q is the mass matrix of rigid bodies, K q is the Jacobian matrix of the kinematic constraint equations, N l is the mass matrix of flexible body,

is the acceleration vector of rigid bodies,

is the absolute acceleration vector of flexible body,

is the Lagrange multipliers vector, Q 1 is the generalized external forces, Q 2 is quadratic velocity quadratic velocity including gyroscopic moment from differentiating the kinetic energy with respect to time and to the generalized coordinates, Q 3 is the elastic force of the finite element, Q 4 the generalized external nodal forces and contact force and Q 5 is the quadratic velocity.…”

Section: Methodsmentioning

confidence: 99%

Intelligent Fault Diagnosis of Delta 3D Printers Using Attitude Sensors Based on Support Vector Machines

Yang

Bai

et al. 2018

Sensors

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Health condition is a vital factor affecting printing quality for a 3D printer. In this work, an attitude monitoring approach is proposed to diagnose the fault of the delta 3D printer using support vector machines (SVM). An attitude sensor was mounted on the moving platform of the printer to monitor its 3-axial attitude angle, angular velocity, vibratory acceleration and magnetic field intensity. The attitude data of the working printer were collected under different conditions involving 12 fault types and a normal condition. The collected data were analyzed for diagnosing the health condition. To this end, the combination of binary classification, one-against-one with least-square SVM, was adopted for fault diagnosis modelling by using all channels of attitude monitoring data in the experiment. For comparison, each one channel of the attitude monitoring data was employed for model training and testing. On the other hand, a back propagation neural network (BPNN) was also applied to diagnose fault using the same data. The best fault diagnosis accuracy (94.44%) was obtained when all channels of the attitude monitoring data were used with SVM modelling. The results indicate that the attitude monitoring with SVM is an effective method for the fault diagnosis of delta 3D printers.

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“…The mass matrix of the system is 11). The inertia tensor matrix corresponding to the rotational component of the local coordinate system of each component of the mechanism is J k = diag I xk , I yk , I zk (k = 1, 2, .…”

Section: Establishment Of Thementioning

confidence: 99%

“…Zhang et al 10 used Newton-Euler equation and improved the Coulomb friction model to establish dynamic equation, and analyzed the effect of joint clearances of 3-RRR planar parallel mechanism on displacement, velocity, and acceleration of mobile platform. Xu et al 11 studied a multibody systems with multiple rotating clearance joints, analyzed the influence of clearance on dynamic response with an improved contact force and friction model. Yang et al 12 proposed a quantitative analysis method, and analyzed the influence of time interval on the dynamic response of crank-slider mechanism under different materials.…”

Section: Introductionmentioning

confidence: 99%

Effects of Spherical Clearance Joint on Dynamics of Redundant Driving Spatial Parallel Mechanism

Chen

Guo

2020

Robotica

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SUMMARY This paper proposes a dynamic modeling method of redundant drive spatial parallel mechanism, dynamics of 4-UPS-RPU redundant driving spatial parallel mechanism considering spherical joint clearance are analyzed. The dynamic equation of spherical joint clearance with Lagrange multiplier is built. The influences of single clearance and multiple clearances on dynamic responses of redundant drive spatial parallel mechanisms are analyzed under different clearance values. The results show that the dynamic characteristics of the mechanism with single clearance are basically consistent with the ideal situation, and the dynamic characteristics of the mechanism with multi-clearance are significantly different from the ideal situation.

show abstract

Dynamic and motion consistency analysis for a planar parallel mechanism with revolute dry clearance joints

Cited by 12 publications

References 23 publications

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

Intelligent Fault Diagnosis of Delta 3D Printers Using Attitude Sensors Based on Support Vector Machines

Effects of Spherical Clearance Joint on Dynamics of Redundant Driving Spatial Parallel Mechanism

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