Study on the Effect of Axial Forces on Dynamic Stiffening of a 3-RPR Planar Parallel Manipulator with Flexible Intermediate Links

被引：0
|
作者：
Kakhki, Mohsen Hajebi [1 ]
Ebrahimi, Saeed [1 ]
机构：
[1] Yazd Univ, Dept Mech Engn, Yazd, Iran
来源：
2014 SECOND RSI/ISM INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM) | 2014年
关键词：
Flexible Parallel manipulators; Assumed mode method; Dynamic stiffening; Axial force; FINITE-ELEMENT-ANALYSIS; VIBRATION;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents the effect of axial forces on the dynamic stiffening of a flexible 3-RPR parallel manipulator in motion with high-speed. The intermediate links are modeled as Euler-Bernoulli beams with fixed-pinned boundary conditions based on the assumed mode method (AMM) and the effect of axial forces on lateral stiffness is investigated. Frequencies of bending vibration of the intermediate links are derived as the functions of axial force and rigid-body motion of the manipulator. Numerical simulations are performed to illustrate the effect of axial forces on the dynamic characteristics of the flexible parallel manipulator. Simulation results of mode shape, deformations, axial forces and frequencies are presented. These results provide a new insight to the optimization, design and control of the 3-RPR parallel manipulators with flexible intermediate links moving in a specified path with high speed.
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页码：83 / 88
页数：6
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