Dynamic modeling of a flexible-link planar parallel platform using a substructuring approach

Wang, Xiaoyun; Mills, James K.

doi:10.1016/j.mechmachtheory.2005.09.009

Cited by 103 publications

(58 citation statements)

References 19 publications

(24 reference statements)

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“…In the existing literatures, the dynamic modeling method of the FPM is mainly from the energy point of view to obtain the partial differential equation. Then an approximation finite-dimensional ordinary differential equation is obtained by discretizing the complex continuous system model through the finite element method (FEM) [7,8] and the AMM [9,10]. Yu and Hong [11] described dynamic modeling, modal selection and modal synthesis, and dynamic stiffening of flexible multibody systems.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions

Sheng

Wang

et al. 2017

Shock and Vibration

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Due to the complexity of the dynamic model of a planar 3-RRR flexible parallel manipulator (FPM), it is often difficult to achieve active vibration control algorithm based on the system dynamic model. To establish a simple and efficient dynamic model of the planar 3-RRR FPM to study its dynamic characteristics and build a controller conveniently, firstly, considering the effect of rigidflexible coupling and the moment of inertia at the end of the flexible intermediate link, the modal function is determined with the pinned-free boundary condition. Then, considering the main vibration modes of the system, a high-efficiency coupling dynamic model is established on the basis of guaranteeing the model control accuracy. According to the model, the modal characteristics of the flexible intermediate link are analyzed and compared with the modal test results. The results show that the model can effectively reflect the main vibration modes of the planar 3-RRR FPM; in addition the model can be used to analyze the effects of inertial and coupling forces on the dynamics model and the drive torque of the drive motor. Because this model is of the less dynamic parameters, it is convenient to carry out the control program.

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Section: Introductionmentioning

confidence: 99%

Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions

Sheng

Wang

et al. 2017

Shock and Vibration

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“…In these machines, the relative motion between flexible components leads to time-varying boundary conditions, so that the eigenfrequencies and mode shapes are not constant but depend on the spatial configuration. The dynamic modeling of serial machines has been treated in recent references [11][12][13][14]. A substructuring dynamic modeling procedure has been applied for the modeling of a flexible-link planar parallel platform by [12] using Component Mode Synthesis (CMS) [15].…”

Section: Introductionmentioning

confidence: 99%

“…The dynamic modeling of serial machines has been treated in recent references [11][12][13][14]. A substructuring dynamic modeling procedure has been applied for the modeling of a flexible-link planar parallel platform by [12] using Component Mode Synthesis (CMS) [15]. A similar procedure was employed in the modeling of a 3-axis milling machine by [11] for several discrete spatial configurations.…”

Section: Introductionmentioning

confidence: 99%

Integrated structure and control design for mechatronic systems with configuration-dependent dynamics

et al. 2009

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a b s t r a c tThis paper considers the optimal design of mechatronic systems with configuration-dependent dynamics. An optimal mechatronic design requires that, among the structural and control parameters, an optimal choice has to be made with respect to design specifications in the different domains. Two main challenges are treated in this paper: the non-convex nature of the optimization problem and the difficulty in modeling serial machines with flexible components and their embedded controllers. The optimization problem is treated using the direct design strategy which considers simultaneously structural and control parameters as variables and adopts non-convex optimization algorithms. Linear time-invariant and gain-scheduling PID controllers are addressed. This methodology is exploited for the multi-objective optimization of a pick-and-place assembly robot with a gripper carried by a variable-length flexible beam. The resulting design tradeoffs between system accuracy and control efforts demonstrate the advantage of an integrated design approach for mechatronic systems with configuration-dependent dynamics.

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“…Unlike nearly rigid body mechanisms where deformation is very small and does not affect mechanism behavior, the deformation of an elastic mechanism has great influence on its dynamics. Whether this type of deformation is intentionally designed [1][2][3] or unavoidable [4,5], the elastic part usually consists of slender, beam-like links. For this reason, classical beam dynamic models (Euler-Bernoulli or Timoshenko beam models) are usually applied.…”

Section: Introductionmentioning

confidence: 99%

“…The models are satisfactory provided that a link undergoes a small deflection such that the assumption of a linear strain-displacement relation holds. However, for mechanisms involving highly elastic links [1][2][3], the models are unable to account for the effects of large deflection on the link motion. In order to predict more accurately the deflected shape during transient, there is a need for a model that captures the deflection of a highly elastic link.…”

Section: Introductionmentioning

confidence: 99%

Dynamics of highly elastic mechanisms using the generalized multiple shooting method: Simulations and experiments

Lan

Lee

Liou

2009

Mechanism and Machine Theory

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Dynamic modeling of a flexible-link planar parallel platform using a substructuring approach

Cited by 103 publications

References 19 publications

Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions

Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions

Integrated structure and control design for mechatronic systems with configuration-dependent dynamics

Dynamics of highly elastic mechanisms using the generalized multiple shooting method: Simulations and experiments

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