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Rigid-flexible coupled dynamics analysis of 3-revolute-prismatic-spherical parallel robot based on multi-software platform
Luo HT(骆海涛)1,2; Fu J(富佳)1,2; Jiao LC(矫利闯)1,2; Chen, Ning3; Wu TK(武廷课)1,2
Department空间自动化技术研究室
Source PublicationADVANCES IN MECHANICAL ENGINEERING
ISSN1687-8132
2019
Volume11Issue:3
Indexed BySCI
WOS IDWOS:000461170700001
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China ; Youth Innovation Promotion Association, Chinese Academy of Sciences (CAS) ; Jiang Xinsong Innovation Fund
KeywordCo-simulation kinematics multi-software platform rigid-flexible coupling dynamics 3-revolute-prismatic-sphericalparallel robot
AbstractKinematics and dynamics are the most important and basic tool for robot research. With the help of computer technology and the respective advantages of three kinds of software, a new method of co-simulation of parallel robot based on multi-platform is proposed, and the mechanical model of multi-body system of 3-revolute-prismatic-spherical parallel robot is established. According to the mechanical analysis of the parallel robot, the rigid-flexible coupling analysis method is adopted. The displacement error shows a periodic change with a period of 4.2 s and the maximum error is 2x10-4m. The dangerous part of the structure is the root of the lower link, and its maximum stress is 202.64 MPa less than the yield strength of the material. The multi-software platform co-simulation improves the accuracy of the dynamic response analysis of the part under dynamic load, and provides an important theoretical basis for the design and optimization of the parallel robot.
Language英语
WOS SubjectThermodynamics ; Engineering, Mechanical
WOS KeywordKINEMATICS ; SINGULARITIES ; MANIPULATOR ; DESIGN
WOS Research AreaThermodynamics ; Engineering
Funding ProjectNational Natural Science Foundation of China[51505470] ; Youth Innovation Promotion Association, Chinese Academy of Sciences (CAS)[2018237] ; Jiang Xinsong Innovation Fund
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24413
Collection空间自动化技术研究室
Corresponding AuthorLuo HT(骆海涛)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (CAS), Shenyang, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences (CAS), Shenyang, China
3.School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China
Recommended Citation
GB/T 7714
Luo HT,Fu J,Jiao LC,et al. Rigid-flexible coupled dynamics analysis of 3-revolute-prismatic-spherical parallel robot based on multi-software platform[J]. ADVANCES IN MECHANICAL ENGINEERING,2019,11(3).
APA Luo HT,Fu J,Jiao LC,Chen, Ning,&Wu TK.(2019).Rigid-flexible coupled dynamics analysis of 3-revolute-prismatic-spherical parallel robot based on multi-software platform.ADVANCES IN MECHANICAL ENGINEERING,11(3).
MLA Luo HT,et al."Rigid-flexible coupled dynamics analysis of 3-revolute-prismatic-spherical parallel robot based on multi-software platform".ADVANCES IN MECHANICAL ENGINEERING 11.3(2019).
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