Dynamic stiffness model of spherical parallel robots

被引：31

作者：

Cammarata, Alessandro ^{[1
]}

Calio, Ivo ^{[1
]}

D'Urso, Domenico ^{[1
]}

Greco, Annalisa ^{[1
]}

Lacagnina, Michele ^{[2
]}

Fichera, Gabriele ^{[1
]}

机构：

[1] Univ Catania, Dept Civil & Environm Engn, Viale A Doria 6, I-95125 Catania, Italy

[2] Univ Catania, Elect Elect & Comp Engn Dept, Viale A Doria 6, I-95125 Catania, Italy

来源：

JOURNAL OF SOUND AND VIBRATION | 2016年 / 384卷

关键词：

CURVED TIMOSHENKO BEAM; FREE-VIBRATION ANALYSIS; NATURAL FREQUENCIES; FINITE-ELEMENT; FORMULATION; ARCHES; INPLANE; CURVATURE; WRIST;

D O I：

10.1016/j.jsv.2016.08.014

中图分类号：

O42 [声学];

学科分类号：

070206 ; 082403 ;

摘要：

A novel approach to study the elastodynamics of Spherical Parallel Robots is described through an exact dynamic model. Timoshenko arches are used to simulate flexible curved links while the base and mobile platforms are modelled as rigid bodies. Spatial joints are inherently included into the model without Lagrangian multipliers. At first, the equivalent dynamic stiffness matrix of each leg, made up of curved links joined by spatial joints, is derived; then these matrices are assembled to obtain the Global Dynamic Stiffness Matrix of the robot at a given pose. Actuator stiffness is also included into the model to verify its influence on vibrations and modes. The latter are found by applying the Wittrick-WilHams algorithm. Finally, numerical simulations and direct comparison to commercial FE results are used to validate the proposed model. (C) 2016 Elsevier Ltd. All rights reserved.

引用

页码：312 / 324

页数：13

共 47 条

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