Dynamic Response and Stability Analysis of a Parallel Mechanism with Clearance in Revolute Joint

被引：2
|
作者：
Hou, Yulei [1 ]
Jing, Guoning [1 ]
Wang, Yi [1 ]
Zeng, Daxing [1 ]
Qiu, Xuesong [1 ]
机构：
[1] Yanshan Univ, Sch Mech Engn, Qinhuangdao 066004, Peoples R China
来源：
MECHANISM AND MACHINE SCIENCE | 2017年 / 408卷
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
Parallel mechanism; Clearance; Dynamics; Stability; Optimization; SLIDER-CRANK MECHANISM; MULTIBODY SYSTEMS; IMPACT ANALYSIS; FORCE MODEL;
D O I：
10.1007/978-981-10-2875-5_97
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The clearances in kinematic pair are inevitable, which will affect the accuracy and stability of the mechanism directly. A two rotational decoupled parallel mechanism RU-RPR is taken as the research object. Considering the clearance existing in the revolute pair, the dynamics equations are established. Then the effects of clearance on the dynamic characteristics of the mechanism are researched. Meanwhile, a spring is added to the mechanism, and its influences on the dynamic of the mechanism are analyzed. In order to further improve the dynamic response of the mechanism, the genetic algorithm is applied to optimize the related parameters of the spring. The research contents possess theoretical guidance significance on improvement of the dynamic characteristics and control of the chaotic motion of the parallel mechanism with clearances.
引用
收藏
页码：1211 / 1224
页数：14
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