Modal Analysis of 3-RRR SPM Model

Kulkarni, V. A.; Chandrashekara, C. V.; Sethuram, D.

doi:10.1007/978-981-16-0550-5_66

Cited by 1 publication

(1 citation statement)

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“…Regarding the dynamics of a parallel kinematics robot, many works can be found in the literature where the modal analysis of the system is performed, but only taking into consideration the robotic system and not the contribution due to the transmissions' stiffness. In this context, some authors performed the modal analysis, developing the models by means of a commercial software [17][18][19][20], while other authors developed their own model [21][22][23][24], sometimes with the aim to investigate the low-order dynamics of the system [25]; in all these cases, nothing about the transmission is taken into consideration.…”

Section: Introductionmentioning

confidence: 99%

Modal Kinematic Analysis of a Parallel Kinematic Robot with Low-Stiffness Transmissions

2021

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Several industrial robotic applications that require high speed or high stiffness-to-inertia ratios use parallel kinematic robots. In the cases where the critical point of the application is the speed, the compliance of the main mechanical transmissions placed between the actuators and the parallel kinematic structure can be significantly higher than that of the parallel kinematic structure itself. This paper deals with this kind of system, where the overall performance depends on the maximum speed and on the dynamic behavior. Our research proposes a new approach for the investigation of the modes of vibration of the end-effector placed on the robot structure for a system where the transmission’s compliance is not negligible in relation to the flexibility of the parallel kinematic structure. The approach considers the kinematic and dynamic coupling due to the parallel kinematic structure, the system’s mass distribution and the transmission’s stiffness. In the literature, several papers deal with the dynamic vibration analysis of parallel robots. Some of these also consider the transmissions between the motors and the actuated joints. However, these works mainly deal with the modal analysis of the robot’s mechanical structure or the displacement analysis of the transmission’s effects on the positioning error of the end-effector. The discussion of the proposed approach takes into consideration a linear delta robot. The results show that the system’s natural frequencies and the directions of the end-effector’s modal displacements strongly depend on its position in the working space.

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