Dynamics analysis of 3PRR compliant parallel mechanism

被引：0
|
作者：
Jia X. [1 ]
Tian Y. [1 ]
Zhang D. [1 ]
机构：
[1] School of Mechanical Engineering, Tianjin University
来源：
Nongye Jixie Xuebao/Transactions of the Chinese Society of Agricultural Machinery | 2010年 / 41卷 / 10期
关键词：
Compliant parallel mechanism; Dynamics analysis; Free vibration; Lagrange's formulation;
D O I：
10.3969/j.issn.1000-1298.2010.10.041
中图分类号：
学科分类号：
摘要：
A 3-PRR compliant parallel mechanism utilizing flexure joints was proposed for 3-D nanomanipulation. Based on the assumed mode method, the passive link was modeled as Euler-Bernoulli beams with pinned-pinned boundary conditions to show the reason of the rigid equivalent. In order to analyze the effects of the inertia parameters of mobile platform and passive link, and the stiffness of flexure parts on the natural frequency of 3-PRR compliant parallel mechanism, the modified dynamics model of the 3-PRR flexure-based parallel mechanism was obtained by the Lagrange's formulation. The numerical simulations were carried out to validate the established model.
引用
收藏
页码：199 / 203
页数：4
相关论文
共 7 条
  • [1] Tian Y., Shirinzadeh B., Zhang D., A flexure-based mechanism and control methodology for ultra-precision turning operation, Precision Engineering, 33, 2, pp. 160-166, (2009)
  • [2] Tian Y., Shirinzadeh B., Zhang D., Et al., Development and dynamic modeling of a flexure-based Scott-Russell mechanism for nanomanipulation, Mechanical Systems and Signal Processing, 23, 3, pp. 957-978, (2008)
  • [3] Du Z., Yu Y., Su L., Effects of inertia parameters of moving platform on the dynamic characteristic of flexible parallel mechanism and optimal design, Optics and Precision Engineering, 6, 14, pp. 1009-1016, (2006)
  • [4] Li Y.M., Xu Q.S., A novel design and analysis of a 2-DOF compliant parallel micromanipulator for nanomanipulation, IEEE Transactions on Automation Science and Engineering, 3, 3, pp. 247-254, (2006)
  • [5] Zhang X.P., James K.M., William L.C., Dynamic modeling and experimental validation of a 3-PRR parallel manipulator with flexible intermediate links, Journal of Intelligent and Robotic Systems, 50, pp. 323-340, (2007)
  • [6] Dong J.Y., Yao Q., Placid M.F., A novel parallel-kinematics mechanism for integrated, multi-axis nanopositioning, Precision Engineering, 32, 1, pp. 20-33, (2008)
  • [7] Lu K., Shi J., Gao X., Et al., Elastic-dynamics of planar flexile parallel mechanism, Transactions of the Chinese Society for Agricultural Machinery, 41, 6, pp. 208-215, (2010)
1