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- 저자 : Junbin Lou (검색결과 1 건)
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Elastodynamic modeling of spatial parallel manipulators contain subclosed loops
Chao Yang,Yang Wang,Junbin Lou,Wei Ye,Fengli Huang 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.3
In this work, the delta parallel manipulator (PM) was considered as a case study to present a system elastodynamic modeling of spatial PMs contain subclosed loops. The mechanism consisted of major substructures including proximal, short, and distal links. Each link was divided into elements to establish the body-to-body and body-to-ground constraint equations. The global independent generalized displacement coordinates (IGDC) of the mechanism were extracted with the theory of multi-point constraint elements. Besides, the global IGDC and substructure synthesis approach was used to obtain the complete elastodynamic modeling of the mechanism without supplementing constraint equations. The resulting configuration-dependent elastodynamic modeling had fewer degrees of freedom, different from thousands used in finite element model (FEM). The natural frequencies could be predicted at any configuration of the mechanism, and were compared against the values of FEM to assess the correctness of the modeling. The proposed modeling could predict the distribution of natural frequencies of the mechanism in the workspace with computational efficiency. Therefore, it could be used as a numerical twin to simulate the elastodynamic performance of PMs in the pre-design stage.
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