Nonlinear dynamic analysis of a parallel mechanism with consideration of joint effects

Shiau, T. N.; Tsai, Yi-Jeng; Tsai, Meng-Shiun

doi:10.1016/j.mechmachtheory.2007.03.008

Cited by 51 publications

(25 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…It should also be pointed out that the limbs of the PKM in the dynamic model above were simplified as spatial beam elements or spring system despite their complex geometries. In addition, the joint compliances in most of the models were not taken into account though they would bring significant bearings on the stiffness of the system [27]. This paper presents a dynamic model and then conducts a position-dependent dynamic analysis for a 3-RPS PKM, which can be used for the stability analysis of the high-speed machine tool.…”

Section: Advances In Mechanical Engineeringmentioning

confidence: 99%

Rapid Evaluation for Position-Dependent Dynamics of a 3-DOF PKM Module

Luo

Wang

Zhang

et al. 2014

Advances in Mechanical Engineering

View full text Add to dashboard Cite

Based on the substructure synthesis and modal reduction technique, a computationally efficient elastodynamic model for a fully flexible 3-RPS parallel kinematic machine (PKM) tool is proposed, in which the frequency response function (FRF) at the end of the tool can be obtained at any given position throughout its workspace. In the proposed elastodynamic model, the whole system is divided into a moving platform subsystem and three identical RPS limb subsystems, in which all joint compliances are included. The spherical joint and the revolute joint are treated as lumped virtual springs with equal stiffness; the platform is treated as a rigid body and the RPS limbs are modelled with modal reduction techniques. With the compatibility conditions at interfaces between the limbs and the platform, an analytical system governing differential equation is derived. Based on the derived model, the position-dependent dynamic characteristics such as natural frequencies, mode shapes, and FRFs of the 3-RPS PKM are simulated. The simulation results indicate that the distributions of natural frequencies throughout the workspace are strongly dependant on mechanism's configurations and demonstrate an axial-symmetric tendency. The following finite element analysis and modal tests both validate the analytical results of natural frequencies, mode shapes, and the FRFs.

show abstract

Section: Advances In Mechanical Engineeringmentioning

confidence: 99%

Rapid Evaluation for Position-Dependent Dynamics of a 3-DOF PKM Module

Luo

Wang

Zhang

et al. 2014

Advances in Mechanical Engineering

View full text Add to dashboard Cite

show abstract

“…Dasgupta and Mruthyunjaya [6] adopted the Newton-Euler method to establish the dynamic model of the Stewart platform considering inertial force, centrifugal force, Coriolis force, gravity, friction and viscous damping force and got a concise expression of the dynamic model in 1998. Shiau and Tsai [7] established the nonlinear dynamic model of 3-PRS parallel manipulator by Newton-Euler method, considering the elastic force and gap of the joint in 2008.…”

Section: Chinamentioning

confidence: 99%

Dynamic feedforward control of the 2-DOFs parallel manipulator of a hybrid machine tool

et al. 2010

View full text Add to dashboard Cite

Dynamic feedforward control is a very good choice for heavy duty machine tools. In order to study the dynamic control of a 2-DOFs planar parallel manipulator, which is used in a heavy duty hybrid machine, dynamic feedforward control is introduced in this paper. Based on the kinematic analysis, the dynamic equation of the 2-DOFs parallel manipulator is derived using the Virtual Work Principle method. Furthermore, a dynamic feedforward control system is established. The dynamic control system consists of two parts, i.e. the kinematic control subsystem and the dynamic feedforward control subsystem. The latter one is designed to eliminate the influence of the parallel manipulator's dynamic characteristics and the dynamic disturbances from milling process. Firstly, the dynamic control subsystem of single link for eliminating dynamic disturbance is introduced, and the simulation of the control subsystem is also given. Secondly, the dynamic control subsystem for eliminating the influence of the dynamic characteristics is analyzed. Then a whole dynamic control system is introduced at last. From the numerical simulation, it is proved that the dynamic feedforward control system proposed in this paper can eliminate the influence of dynamic disturbances and dynamic characteristics well.

show abstract

“…Although a couple of useful methods have been available for the force analysis of parallel mechanisms, the Newton-Euler method [3][4][5][6][7], the virtual work principle [8][9][10][11][12][13], and the screw theory method [14][15][16][17], for example, it is important to note, however, that the GTRM operates under the constraints of rocky surroundings. Because of this very special working condition, the translational movements normal to the cutterhead's axis are uncontrollable.…”

Section: Introductionmentioning

confidence: 99%

Force analysis of an open TBM gripping–thrusting–regripping mechanism

Huang

Wang

Liu

et al. 2016

Mechanism and Machine Theory

View full text Add to dashboard Cite

Copies of full items can be used for personal research or study, educational, or not-forprofit purposes without prior permission or charge. Provided that the authors, title and full bibliographic details are credited, a hyperlink and/or URL is given for the original metadata page and the content is not changed in any way. A note on versions:The version presented here may differ from the published version or, version of record, if you wish to cite this item you are advised to consult the publisher's version. Please see the 'permanent WRAP url' above for details on accessing the published version and note that access may require a subscription.

show abstract

Nonlinear dynamic analysis of a parallel mechanism with consideration of joint effects

Cited by 51 publications

References 24 publications

Rapid Evaluation for Position-Dependent Dynamics of a 3-DOF PKM Module

Rapid Evaluation for Position-Dependent Dynamics of a 3-DOF PKM Module

Dynamic feedforward control of the 2-DOFs parallel manipulator of a hybrid machine tool

Force analysis of an open TBM gripping–thrusting–regripping mechanism

Contact Info

Product

Resources

About