A STUDY ON THE DYNAMIC CHARACTERISTICS OF THE 2-DOF REDUNDANT PARALLEL MANIPULATOR OF A HYBRID MACHINE TOOL

被引：8
|
作者：
Wang, Liping [1 ]
Wu, Jun [1 ]
Li, Tiemin [1 ]
Wang, Jinsong [1 ]
Gao, Guoqin [2 ]
机构：
[1] Tsinghua Univ, Dept Mech Engn, Inst Mfg Engn, Beijing 100084, Peoples R China
[2] Jiangsu Univ, Sch Elect & Informat Engn, Zhenjiang, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2015年 / 30卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Dynamic characteristics; redundant parallel manipulator; natural frequency; displacement response; VIBRATION CONTROL; MODEL; FORCES;
D O I：
10.2316/Journal.206.2015.2.206-4257
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper deals with the dynamic characteristics of the 2 degree-offreedom (2-DOF) redundant parallel manipulator of a 5-DOF hybrid machine tool. The stiffness matrix of the parallel manipulator is derived by considering the revolute pair stiffness. Taking the damp and dynamic cutting force into account, the analytic dynamic model is derived. The third-order natural frequencies and displacement response of the redundant parallel manipulator are compared with those of its non-redundant counterpart. The simulations show that the redundant parallel manipulator has higher natural frequency and smaller displacement response than its non-redundant counterpart.
引用
收藏
页码：184 / 191
页数：8
相关论文
共 50 条
  • [1] Dynamic dexterity of a planar 2-DOF parallel manipulator in a hybrid machine tool
    Wu, Jun
    Wang, Jinsong
    Li, Tiemin
    Wang, Liping
    Guan, Liwen
    [J]. ROBOTICA, 2008, 26 : 93 - 98
  • [2] Dynamic Analysis and Counterweight Optimization of the 2-DOF Parallel Manipulator of a Hybrid Machine Tool
    Wu, Jun
    Wang, Jinsong
    Wang, Liping
    Li, Tiemin
    Liu, Yue
    [J]. JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS, 2007, 2 (04): : 344 - 350
  • [3] Motion control of the 2-DOF parallel manipulator of a hybrid machine tool
    Wu, Jun
    Wang, Liping
    [J]. ROBOTICA, 2010, 28 : 861 - 868
  • [4] Dynamic analysis of the 2-DOF planar parallel manipulator of a heavy duty hybrid machine tool
    Wu, Jun
    Wang, Jinsong
    Li, Tiemin
    Wang, Liping
    [J]. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2007, 34 (3-4): : 413 - 420
  • [5] Dynamic analysis of the 2-DOF planar parallel manipulator of a heavy duty hybrid machine tool
    Jun Wu
    Jinsong Wang
    Tiemin Li
    Liping Wang
    [J]. The International Journal of Advanced Manufacturing Technology, 2007, 34 : 413 - 420
  • [6] Mechatronics modeling and vibration analysis of a 2-DOF parallel manipulator in a 5-DOF hybrid machine tool
    Wu, Jun
    Yu, Guang
    Gao, Ying
    Wang, Liping
    [J]. MECHANISM AND MACHINE THEORY, 2018, 121 : 430 - 445
  • [7] Modeling, identification and control of a redundant planar 2-dof parallel manipulator
    Zhang, Yao-Xin
    Cong, Shuang
    Shang, Wei-Wei
    Li, Ze-Xiang
    Jiang, Shi-Long
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2007, 5 (05) : 559 - 569
  • [8] Study on Dynamic Characteristics of Parallel Robot with 2-DOF
    Chen, Meiyu
    Xin, Hongbing
    Li, Quanlai
    Xin, Yuefei
    Cui, Dengqi
    Liu, Long
    Wang, Tan
    [J]. ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY III, PTS 1-4, 2013, 397-400 : 1558 - 1562
  • [9] OPTIMAL CALIBRATION AND IDENTIFICATION OF A 2-DOF PARALLEL MANIPULATOR WITH REDUNDANT ACTUATION
    Shang, Weiwei
    Cong, Shuang
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2015, 30 (05): : 491 - 502
  • [10] Robust nonlinear control of a planar 2-DOF parallel manipulator with redundant actuation
    Shang, Weiwei
    Cong, Shuang
    [J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2014, 30 (06) : 597 - 604
12345