Paper Titles

Preface, Committees

Study on Internal Flow Field of the Afflux Device Based on CFD
p.3

Modal Analysis of High-Speed Parallel Manipulator with Flexible Links
p.8

An Integrated Framework for Product Design and Macro Process Planning Based on ISO 10303 Standard - A Case Study: Integration of Glass Bottle and its Mold Design
p.15

Nonlinear Dynamic Response Analysis of Aircraft Landing Gear with Finite Element Modeling
p.23

Analysis on Chaotic Vibrations of the Magneto-Rheological Suspension System
p.28

Research of Local Constraint for Simplified Half-Rotating Mechanism
p.35

Conceptual Design for the Performance Optimization of Compound Coaxial Helicopter
p.40

Harmonic Response Analysis and Structure Modification for Substructure of Deep Well Drilling Rig
p.45

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 826Modal Analysis of High-Speed Parallel Manipulator...

Modal Analysis of High-Speed Parallel Manipulator with Flexible Links

Article Preview

Abstract:

The modal analysis was carried out to investigate the proposed improved curvature based finite element method (ICFE) for parallel manipulator with flexible links. The flexible link was discretizatied with ICFE first, and with the proposed rigid-flexible coupling technique, the flexible displacement of the moving platform and passive links was obtained, then through Lagrange equation, the structural model was derived. At last, to investigate the accuracy and efficiency of the ICFE and rigid-flexible coupling technique, modal analysis of ICFE model with different nodes and comparison studies with CFE and the ABAQUS model was carried out.

You might also be interested in these eBooks

Engineering Design and Analysis

Info:

Periodical:

Applied Mechanics and Materials (Volume 826)

Pages:

8-14

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.826.8

Citation:

Cite this paper

Online since:

February 2016

Authors:

Zheng Sheng Chen, Ming Liu, Min Xiu Kong*, Chen Ji

Keywords:

Curvature Based Finite Element, Modal Analysis, Parallel Manipulator, Rigid-Flexible Coupling

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

© 2016 Trans Tech Publications Ltd. All Rights Reserved

Share:

Citation:

* - Corresponding Author

[1] S.K. Dwivedy, P. Eberhard, Dynamic analysis of flexible manipulators, a literature review, Mechanism and Machine Theory, 41 (2006) 749-777.

DOI: 10.1016/j.mechmachtheory.2006.01.014

[2] Y. Kuo, W. Cleghorn, K. Behdinan, Stress-based finite element method for Euler-Bernoulli beams, Transactions of the Canadian Society for Mechanical Engineering, 30 (2013) 1-6.

DOI: 10.1139/tcsme-2006-0001

[3] I.T. Pietsch, M. Krefft, O.T. Becker, C.C. Bier, J. Hesselbach, How to reach the dynamic limits of parallel robots? An autonomous control approach, IEEE Transactions on Automation Science and Engineering, 2 (2005) 369-380.

DOI: 10.1109/tase.2005.851600

[4] A. Shabana, Flexible Multibody Dynamics: Review of Past and Recent Developments, Multibody System Dynamics, 1 (1997) 189-222.

DOI: 10.1023/a:1009773505418

[5] W.L. Cleghorn, R.G. Fenton, B. Tabarrok, Finite element analysis of high-speed flexible mechanisms, Mechanism and Machine Theory, 16 (1981) 407-424.

DOI: 10.1016/0094-114x(81)90014-8

[6] K. -H. Yang, Y. -S. Park, Dynamic stability analysis of a closed-loop flexible link mechanism, Mechanism and Machine Theory, 31 (1996) 545-560.

DOI: 10.1016/0094-114x(95)00104-7

[7] K. -H. Yang, Y. -S. Park, Dynamic stability analysis of a flexible four-bar mechanism and its experimental investigation, Mechanism and Machine Theory, 33 (1998) 307-320.

DOI: 10.1016/s0094-114x(97)00048-7

[8] Z. Du, Y. Yu, Differential motion equations of 5R flexible parallel robot, Zhongguo Jixie Gongcheng/China Mechanical Engineering, 19 (2008) 75-79.

[9] Y.L. Kuo, W.L. Cleghorn, Accuracy enhancement of flexible four bar mechanisms via the curvature-based finite element method, in: ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2008, August 3, 2008 - August 6, 2008, American Society of Mechanical Engineers, Brooklyn, NY, United states, 2008, pp.1447-1461.

DOI: 10.1115/detc2008-49497

[10] G. Piras, W.L. Cleghorn, J.K. Mills, Dynamic finite-element analysis of a planar high-speed, high-precision parallel manipulator with flexible links, Mechanism and Machine Theory, 40 (2010) 849-862.

DOI: 10.1016/j.mechmachtheory.2004.12.007

[11] Z. Du, Y. Yu, X. Zhang, Dynamic modeling of planar flexible parallel manipulators, Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, 43 (2007) 96-101.

DOI: 10.3901/jme.2007.09.096

[12] S. -z. Liu, Y. -q. Yu, Z. -c. Zhu, L. -y. Su, Q. -b. Liu, Dynamic modeling and analysis of 3-RRS parallel manipulator with flexible links, Journal of Central South University of Technology, 17 (2010) 323-331.

DOI: 10.1007/s11771-010-0049-8

[13] Y. Yue-Qing, D. Zhao-Cai, Y. Jian-Xin, L. Yuan, An Experimental Study on the Dynamics of a 3-RRR Flexible Parallel Robot, Robotics, IEEE Transactions on, 27 (2011) 992-997.

DOI: 10.1109/tro.2011.2159408

[14] A. Fattah, J. Angeles, A.K. Misra, Dynamics of a 3-DOF spatial parallel manipulator with flexible links, in: Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3), May 21, 1995 - May 27, 1995, IEEE, Nagoya, Jpn, 1995, pp.627-632.

DOI: 10.1109/robot.1995.525354

[15] Z. Zhou, J. Xi, C.K. Mechefske, Modeling of a fully flexible 3PRS manipulator for vibration analysis, Journal of Mechanical Design, 128 (2006) 403.

DOI: 10.1115/1.2167655

[16] Z. Chen, M. Kong, C. Ji, M. Liu, An efficient dynamic modelling approach for high-speed planar parallel manipulator with flexible links, PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 229 (2015).

DOI: 10.1177/0954406214538946