Rigid versus Flexible Link Dynamic Analysis of a 3DOF Delta Type Parallel Manipulator

2015 ◽  
Vol 762 ◽  
pp. 101-106 ◽  
Author(s):  
Nadia Ramona Cretescu ◽  
Mircea Neagoe
Keyword(s):  
Dynamic Analysis ◽  
Numerical Simulations ◽  
Parallel Manipulator ◽  
Numerical Models ◽  
Parallel Robot ◽  
Flexible Link ◽  
Flexible Links ◽  
Delta Type ◽  
Adams Software

This paper presents a comparative kinematic and dynamic analysis of a Delta parallel robot based on numerical simulations of the rigid vs. flexible links robot models. The flexible links numerical models are derived using AutoFlex module of Adams software. Finally, the conclusions regarding the obtained results useful in manipulator constructive design are presented.

Non-smooth dynamical analysis and experimental validation of the cable-suspended parallel manipulator

2012 ◽  
Vol 226 (10) ◽  
pp. 2456-2466 ◽  
Author(s):  
Xing-Guo Shao ◽  
Zhen-Cai Zhu ◽  
Qing-Guo Wang ◽  
Peter CY Chen ◽  
Bin Zi ◽  
...  
Keyword(s):  
Dynamic Analysis ◽  
Parallel Manipulator ◽  
Inequality Constraints ◽  
Parallel Robot ◽  
Differential Algebraic Equations ◽  
Dynamical Analysis ◽  
Algebraic Equations ◽  
Dynamics Model ◽  
Midpoint Method ◽  
Smooth Dynamics

The cable-suspended parallel manipulator replaces the rigid links of traditional parallel robot. The unilateral property of the cable complicates the dynamic analysis of such manipulator and further induces difficulty in control problem. The set-valued tension law is proposed to model the unilateral constraint of the cable, and the dynamics of cable-suspended parallel manipulator is analyzed in the framework of non-smooth dynamics. The resulting non-smooth dynamics model consists of a set of differential–algebraic equations with inequality constraints. Its solution is found by the Moreau midpoint method. An experimental setup was established to verify and validate the effectiveness and accuracy of non-smooth dynamics. And the simulation results generally agree with the experimental results, which demonstrate that the non-smooth dynamics is effective and reasonable for the dynamic analysis of the cable-suspended parallel manipulator. The results of this article deeply reveal the dynamics of the cable-suspended parallel manipulator, and may be used to design more accurate controller for its trajectory control.

Independent Suspension of Invariable Alignment Parameters by Using Flexible Links With Anisotropic Elasticity

2014 ◽  
Vol 6 (4) ◽  
Author(s):  
Jing-Shan Zhao ◽  
Jian-Yi Wang ◽  
Fulei Chu ◽  
Jian S. Dai
Keyword(s):  
Numerical Simulations ◽  
Model Test ◽  
Kinematic Chain ◽  
Anisotropic Elasticity ◽  
Flexible Link ◽  
Engineering Applications ◽  
Flexible Links ◽  
Kinematic Chains ◽  
Internal Forces ◽  
Lateral Deflections

This paper investigates an independent suspension with invariable alignment parameters by using flexible links of anisotropic elasticity. It focuses on the synthesis of elasticity of compliant flat links and establishes the mapping from the internal forces during jounce and rebound to the perturbation of the alignment parameters of the knuckle. The equivalent substitution of a flexible link to the infinite-R kinematic chain is first discussed by investigating the free motion and constraint of planar R-type kinematic chains. The rigid guidance capability of the suspension is then discussed from the viewpoint of perturbations of alignment parameters via investigating the lateral deflections of the anisotropic flexible links. At last the rib strengthened double level links on each side of the knuckle are proposed for engineering applications. Numerical simulations and model test show that this kind of suspension can provide very good alignment for the wheel.

Dynamics of a Flexible-Link Planar Parallel Manipulator in Cartesian Space

1994 ◽  
Author(s):  
Abbas Fattah ◽  
Arun K. Misra ◽  
Jorge Angeles
Keyword(s):  
Parallel Manipulator ◽  
High Speed ◽  
Inverse Dynamics ◽  
Equations Of Motion ◽  
Flexible Link ◽  
End Effector ◽  
Joint Torques ◽  
Flexible Links ◽  
Cartesian Space ◽  
Planar Parallel Manipulator

Abstract The subject of this paper is the modeling and simulation of a flexible-link planar parallel manipulator in Cartesian space. Given a desired end-effector motion, the inverse kinematics and inverse dynamics of a rigid-link model of the parallel manipulator is used to obtain actuated joint torques. The actual end-effector motion and vibration of the flexible links are obtained using simulation (direct dynamics) for the flexible-link manipulator. Finite elements are used to model the flexible links, while the Euler-Lagrange formulation is used to derive the equations of motion of the uncoupled links. The equations of motion of all the links are assembled to obtain the governing equations for the entire system. The methodology of the natural orthogonal complement, which has been previously applied to flexible-link systems with open-chain structures, is used here to eliminate the constraint forces. Finally, geometric nonlinearities in elastic deformations, which are very important in high-speed operations, are also considered.

MULTI-MODE VIBRATION CONTROL AND POSITION ERROR ANALYSIS OF PARALLEL MANIPULATOR WITH MULTIPLE FLEXIBLE LINKS

2010 ◽  
Vol 34 (2) ◽  
pp. 197-213 ◽  
Author(s):  
Xuping Zhang ◽  
James K. Mills ◽  
William L. Cleghorn
Keyword(s):  
Vibration Control ◽  
Parallel Manipulator ◽  
Position Error ◽  
Flexible Link ◽  
Flexible Links ◽  
Position Errors ◽  
Mode Vibration ◽  
Moving Platform ◽  
Multi Mode ◽  
Modal Space

This paper presents multi-mode vibration control and analysis of moving platform position errors of a planar 3-PRR parallel manipulator with three flexible intermediate links using PZT transducers. The active vibration controller is designed in modal space with modal filters and modal synthesizers determined from the flexible link vibration characteristics. Estimation of the moving platform position error is conducted using measurements of the flexible link deflection from PZT sensors mounted on the flexible intermediate links. An effective strategy for determining the control gains to reduce the vibrations of higher order modes is proposed through modification of the independent modal space control (IMSC) method. The proposed independent modal control strategy is experimentally implemented with first two modes targeted for control on a parallel manipulator with multiple flexible links. The experimental results show that the vibrations of the first two modes are effectively suppressed, and the position error of the moving platform is substantially reduced.

Modal Analysis of High-Speed Parallel Manipulator with Flexible Links

2016 ◽  
Vol 826 ◽  
pp. 8-14 ◽  
Author(s):  
Zheng Sheng Chen ◽  
Ming Liu ◽  
Min Xiu Kong ◽  
Chen Ji
Keyword(s):  
Modal Analysis ◽  
Parallel Manipulator ◽  
High Speed ◽  
Structural Model ◽  
Lagrange Equation ◽  
Flexible Link ◽  
Flexible Coupling ◽  
Flexible Links ◽  
Coupling Technique ◽  
Abaqus Model

The modal analysis was carried out to investigate the proposed improved curvature based finite element method (ICFE) for parallel manipulator with flexible links. The flexible link was discretizatied with ICFE first, and with the proposed rigid-flexible coupling technique, the flexible displacement of the moving platform and passive links was obtained, then through Lagrange equation, the structural model was derived. At last, to investigate the accuracy and efficiency of the ICFE and rigid-flexible coupling technique, modal analysis of ICFE model with different nodes and comparison studies with CFE and the ABAQUS model was carried out.

Dynamic Modeling of Compliant Mechanisms Based on 2R Pseudo-Rigid-Body Model

2012 ◽  
Vol 163 ◽  
pp. 277-280 ◽  
Author(s):  
Wen Jing Wang ◽  
Shu Sheng Bi ◽  
Li Ge Zhang
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Modeling ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Large Deflections ◽  
Flexible Link ◽  
Flexible Links ◽  
Body Model ◽  
Rigid Body Model ◽  
New Type

Compliant mechanism is a kind of new type mechanism and its analysis is very complex because flexible links often under large deflections which introduce geometry nonlinearities. A new model (2R PRBM) can simulate accurately both the deflection path and angle of the flexible link. A new dynamic model of compliant mechanism is developed using the 2R PRBM. The dynamic equation of planar compliant mechanism is derived. The dynamic analysis on the natural frequency of compliant mechanism is obtained in the example of a planar compliant parallel-guiding mechanism. The numerical results show the advantage of the proposed method for the dynamic analysis of compliant mechanisms.

scholarly journals Static and Dynamic Analysis of the PAMINSA (Parallel Manipulator of the I.N.S.A.)

2005 ◽  
Author(s):  
Vigen Arakelian ◽  
Sylvain Gue´gan ◽  
Se´bastien Briot
Keyword(s):  
Dynamic Analysis ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Static Model ◽  
Lagrange Equations ◽  
Static Loads ◽  
Static And Dynamic Analysis ◽  
Adams Software ◽  
4 Degrees Of Freedom ◽  
Analytical Dynamic

In this paper we present an analytical approach for the static and dynamic analysis of the PAMINSA, a new 4 degrees of freedom parallel manipulator that has been designed at the I.N.S.A. in Rennes. On the base of the developed static model, the input torques due to the static loads are reduced by means of the optimum redistribution of the moving link masses. The analytical dynamic modeling of the PAMINSA by means of Lagrange equations is achieved. A numerical example and a comparison between the suggested analytical model and an ADAMS software simulation are presented.

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