Design, static analysis, and dynamic system modeling of 3-PPRS parallel manipulator with load-balancing UPS leg

被引:1
|
作者
Prasad, A. Xavier Reni [1 ]
Ganesh, M. [1 ]
机构
[1] SASTRA Deemed be Univ, Sch Mech Engn, Thanjavur, Tamil Nadu, India
关键词
parallel manipulators; end effector; load balancing mechanism; robot dynamics; damper element; 3-PPRS; a passive damper mechanism; mathematical model; vibration; stiffness; STIFFNESS ANALYSIS; MECHANISMS;
D O I
10.1017/S0263574723000632
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
As a heavy load is applied to the parallel manipulators, it causes inaccuracies while positioning the end-effector or unbalanced dynamic forces in the legs. Various load-balancing techniques overcome this. However, the disadvantage of most load-balancing mechanisms is that they add inertia to the assembly and decrease the speed of motion. This article studies a new load-balancing method (a passive damper mechanism). The passive balancing mechanism is proposed to negate the inertia effects while countering the static inaccuracies in the parallel mechanism. This is verified by the structural analysis of the mechanism. The impact of the damper element on the dynamics of the mechanism is unknown. Hence, a complete mathematical model for the balancing mechanism has been developed to study its impact on the dynamics of the entire structure. Laplace transformations characterize the system response. The inclusion of a passive damper in a 3-prismatic-prismatic-revolute-spherical system was examined and found to be stable and critically damped. Such a passive damper was envisaged to facilitate additional force transmission for the actuators, and the DC gain from the system response validates the torque support for the actuators.
引用
收藏
页码:2735 / 2753
页数:19
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