Experimental characterization of self-excited vibration of a 3-RRR parallel robot

被引：0
作者：
机构：
[1] Guangdong Provincial Key Laboratory of Precision Equipments and Manufacturing Technology, South China University of Technology, Guangzhou, Guangdong
来源：
| 1600年 / Springer Verlag卷 / 8918期
基金：
中国国家自然科学基金;
关键词：
3-RRR parallel robot; Electromechanical coupling; Equivalent hysteresis nonlinear; Self-excited vibration;
D O I：
10.1007/978-3-319-13963-0_7
中图分类号：
学科分类号：
摘要：
A kind of 3-RRR parallel robot is described. The dynamics model is analyzed. Experiment is performed to characterize the self-excited vibration of a 3-RRR parallel robot. The measured data is analyzed to describe the dynamics characteristics of the parallel robot system. It is found that the hysteresis is obviously related to the displacements and driving torques of the corresponding actuated joints. The hysteresis, which is caused by the friction and backlash of the speed reducer gear existed in the mechanism, could describe the positioning nonlinearity. © Springer International Publishing Switzerland 2014.
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页码：72 / 80
页数：8
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