An efficient dynamic modelling approach for high-speed planar parallel manipulator with flexible links

2014 ◽  
Vol 229 (4) ◽  
pp. 663-678 ◽  
Author(s):  
Zhengsheng Chen ◽  
Minxiu Kong ◽  
Chen Ji ◽  
Ming Liu
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Dynamic Model ◽  
Parallel Manipulator ◽  
Dynamic Modelling ◽  
Body Motion ◽  
Flexible Links ◽  
Modelling Method ◽  
Planar Parallel Manipulator ◽  
Modelling Approach

An efficient dynamic modelling approach was presented for planar parallel manipulator with flexible links. To increase the accuracy of the model, an improved curvature-based finite element method (ICFE) was developed for discretisation of the flexible links. Then, a novel approach for analysis of the coupling between rigid-body motion and flexible-body motion was proposed, and compared to the regular geometrical method, the proposed method was accurate and easy to implement. With the aforementioned proposed methods, the Kane equation was integrated to formulate the dynamic model of a 3RRR planar parallel manipulator. Finally, comparison studies were performed to validate the proposed ICFE and the integrated dynamic modelling method. Compared to the regular curvature-based finite element method (CFE), the ICFE exhibits improved accuracy with equivalent degrees of freedom. Additionally, the proposed integrated dynamic model shows a good agreement with the Abaqus model. Therefore, it was concluded that the proposed dynamic modelling method herein was efficient and accurate for parallel manipulators with flexible links, demonstrating reasonable potentials for model based control.

Dynamics of Robotic Manipulators With Flexible Links

1991 ◽  
Vol 113 (1) ◽  
pp. 54-59 ◽  
Author(s):  
Liang-Wey Chang ◽  
J. F. Hamilton
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Dynamic Model ◽  
Nonlinear Equations ◽  
Robotic Manipulators ◽  
The Finite Element Method ◽  
Small Motion ◽  
Flexible Links ◽  
Generalized Coordinates ◽  
Large Motion

This paper presents a dynamic model for the robotic manipulators with flexible links by means of the Finite Element Method and Lagrange’s formulation. By the concept of the Equivalent Rigid Link System (ERLS), the generalized coordinates are selected to represent the total motion as a large motion and a small motion. Two sets of coupled nonlinear equations are obtained where the equations representing small motions are linear with respect to the small motion variables. An example is presented to illustrate the importance of the flexibility effects.

scholarly journals Dynamic Model for the EV’s Charging Infrastructure Planning Through Finite Element Method

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 102399-102408
Author(s):  
Morris Brenna ◽  
George Cristian Lazaroiu ◽  
Mariacristina Roscia ◽  
Soheil Saadatmandi
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Dynamic Model ◽  
Infrastructure Planning ◽  
Charging Infrastructure ◽  
Element Method

scholarly journals Programmed task based motion analysis of robotic systems equipped with flexible links and supports

2018 ◽  
Vol 241 ◽  
pp. 01008 ◽  
Author(s):  
Elżbieta Jarzębowska ◽  
Krzysztof Augustynek ◽  
Andrzej Urbaś
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Motion Analysis ◽  
Computational Procedure ◽  
Robotic Systems ◽  
Dynamics Analysis ◽  
Flexible Link ◽  
Flexible Links ◽  
Rigid Finite Element Method ◽  
Joint Coordinates

The automatic computational procedure to derivate dynamics equations of systems with programmed constraints modified to encompass compliant mechanical components in their structures is discussed in the paper. The dynamics analysis of the compliant manipulator model with a flexible link is presented as an example. The rigid finite element method is used in order to take into account the flexibility of the link. The formalism of joint coordinates and homogeneous transformations are used to describe the manipulator motion.

scholarly journals Analysis of Parallelogram Mechanism used to Preserve Remote Center of Motion for Surgical Telemanipulator

2017 ◽  
Vol 22 (1) ◽  
pp. 229-240 ◽  
Author(s):  
R. Trochimczuk
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Computer Simulations ◽  
Parallel Manipulator ◽  
Medical Robotics ◽  
The Finite Element Method ◽  
Software Environment ◽  
Research Material ◽  
Element Method

Abstract This paper presents an analysis of a parallelogram mechanism commonly used to provide a kinematic remote center of motion in surgical telemanipulators. Selected types of parallel manipulator designs, encountered in commercial and laboratory-made designs described in the medical robotics literature, will serve as the research material. Among other things, computer simulations in the ANSYS 13.0 CAD/CAE software environment, employing the finite element method, will be used. The kinematics of the solution of manipulator with the parallelogram mechanism will be determined in order to provide a more complete description. These results will form the basis for the decision regarding the possibility of applying a parallelogram mechanism in an original prototype of a telemanipulator arm.

Hamiltonian Nodal Position Finite Element Method for Cable Dynamics

2017 ◽  
Vol 09 (08) ◽  
pp. 1750109 ◽  
Author(s):  
Huaiping Ding ◽  
Zheng H. Zhu ◽  
Xiaochun Yin ◽  
Lin Zhang ◽  
Gangqiang Li ◽  
...  
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Rigid Body ◽  
Rigid Body Motion ◽  
Body Motion ◽  
Frequency Mode ◽  
Integration Scheme ◽  
Long Period ◽  
Nodal Position ◽  
Element Method

This paper developed a new Hamiltonian nodal position finite element method (FEM) to treat the nonlinear dynamics of cable system in which the large rigid-body motion is coupled with small elastic cable elongation. The FEM is derived from the Hamiltonian theory using canonical coordinates. The resulting Hamiltonian finite element model of cable contains low frequency mode of rigid-body motion and high frequency mode of axial elastic deformation, which is prone to numerical instability due to error accumulation over a very long period. A second-order explicit Symplectic integration scheme is used naturally to enforce the conservation of energy and momentum of the Hamiltonian finite element system. Numerical analyses are conducted and compared with theoretical and experimental results as well as the commercial software LS-DYNA. The comparisons demonstrate that the new Hamiltonian nodal position FEM is numerically efficient, stable and robust for simulation of long-period motion of cable systems.

Dynamic modelling of giant magnetostriction in Terfenol-D rods by the finite element method

1995 ◽  
Vol 31 (3) ◽  
pp. 1821-1824 ◽  
Author(s):  
M.E.H. Benbouzid ◽  
G. Reyne ◽  
G. Meunier ◽  
L. Kvarnsjo ◽  
G. Engdahl
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Dynamic Modelling ◽  
The Finite Element Method ◽  
Giant Magnetostriction ◽  
Element Method

Parametric Design and Modal Analysis on Four-Order Elliptical Gear

2013 ◽  
Vol 423-426 ◽  
pp. 1516-1519
Author(s):  
Zhi Dong Huang ◽  
An Min Hui ◽  
Guang Yang ◽  
Rui Yang Li
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Dynamic Response ◽  
Modal Analysis ◽  
Dynamic Model ◽  
Natural Frequencies ◽  
Parametric Design ◽  
Three Dimensional ◽  
Response Analysis ◽  
Dynamic Design

The characteristics of four-order elliptical gear is analyzed. The parameters of four-order elliptical gear are chosen and calculated. The three-dimensional solid modeling of four-order elliptical gear is achieved. The dynamic model of four-order elliptical gear is established by finite element method and modal analysis of four-order elliptical gear is investigated. The natural frequencies and major modes of the first six orders are clarified. The method and the result facilitate the dynamic design and dynamic response analysis of high-order elliptical gear.

Sign in / Sign up

Export Citation Format

Share Document