Dynamic Modeling with Joint Friction and Research on the Inertia Coupling Property of a 5-PSS/UPU Parallel Manipulator

被引：0
|
作者：
Li Y. [1 ]
Zheng H. [1 ]
Sun P. [1 ]
Xu T. [1 ]
Wang Z. [1 ]
Qin S. [1 ]
机构：
[1] School of Mechanical Engineering, Zhejiang University, Hangzhou
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2019年 / 55卷 / 03期
关键词：
5-PSS/UPU parallel mechanism; Dynamic performance; Friction modeling; Inertia coupling; Newton-Euler method;
D O I：
10.3901/JME.2019.03.043
中图分类号：
学科分类号：
摘要：
In order to apply the parallel mechanism to the sea level recovery platform of spacecraft, a new five-degree-of-freedom parallel mechanism called 5-PSS/UPU parallel mechanism, which can realize three-shift and two-rotation, is proposed as a flexible adaptive dynamic balancing device. Due to the multi-close-loop structure of parallel mechanism, there is a serious inertia coupling between the driving branches, which will cause difficulties in the control of the parallel mechanism and affect the dynamic performance of the mechanism. Thus it is significant to study and evaluate the inertia coupling property of the parallel mechanism. Firstly, the positive and negative solutions of the mechanism are deducted by vector motion. Secondly, The dynamics model of 5-PSS/UPU parallel mechanism is established by Newton-Euler method under the condition of joints friction effect. The numerical simulation of the mechanism dynamic model was carried out, which shows that the max errors of each driving forces were 1.62%, 0.48%, 3.85%, 1.21%, 5.13%. Then, based on dynamic model, analysis coupling characteristic and obtain the inertia coupling evaluation index in the different poses of this parallel mechanism workspace. The result shows that, to some extent, optimization the reasonable motion trajectory can reduce the influence of dynamic coupling characteristics on the dynamics performance of the parallel mechanism. © 2019 Journal of Mechanical Engineering.
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页码：43 / 52
页数：9
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