Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions
Due to the complexity of the dynamic model of a planar 3-RRR flexible parallel manipulator (FPM), it is often difficult to achieve active vibration control algorithm based on the system dynamic model. To establish a simple and efficient dynamic model of the planar 3-RRR FPM to study its dynamic char...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2017-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2017/1582547 |
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| _version_ | 1832551091629195264 |
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| author | Lianchao Sheng Wei Li Yuqiao Wang Mengbao Fan Xuefeng Yang |
| author_facet | Lianchao Sheng Wei Li Yuqiao Wang Mengbao Fan Xuefeng Yang |
| author_sort | Lianchao Sheng |
| collection | DOAJ |
| description | Due to the complexity of the dynamic model of a planar 3-RRR flexible parallel manipulator (FPM), it is often difficult to achieve active vibration control algorithm based on the system dynamic model. To establish a simple and efficient dynamic model of the planar 3-RRR FPM to study its dynamic characteristics and build a controller conveniently, firstly, considering the effect of rigid-flexible coupling and the moment of inertia at the end of the flexible intermediate link, the modal function is determined with the pinned-free boundary condition. Then, considering the main vibration modes of the system, a high-efficiency coupling dynamic model is established on the basis of guaranteeing the model control accuracy. According to the model, the modal characteristics of the flexible intermediate link are analyzed and compared with the modal test results. The results show that the model can effectively reflect the main vibration modes of the planar 3-RRR FPM; in addition the model can be used to analyze the effects of inertial and coupling forces on the dynamics model and the drive torque of the drive motor. Because this model is of the less dynamic parameters, it is convenient to carry out the control program. |
| format | Article |
| id | doaj-art-0b9cb38e817445f48d72091abbb8f24f |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-0b9cb38e817445f48d72091abbb8f24f2025-02-03T06:04:50ZengWileyShock and Vibration1070-96221875-92032017-01-01201710.1155/2017/15825471582547Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary ConditionsLianchao Sheng0Wei Li1Yuqiao Wang2Mengbao Fan3Xuefeng Yang4School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaDue to the complexity of the dynamic model of a planar 3-RRR flexible parallel manipulator (FPM), it is often difficult to achieve active vibration control algorithm based on the system dynamic model. To establish a simple and efficient dynamic model of the planar 3-RRR FPM to study its dynamic characteristics and build a controller conveniently, firstly, considering the effect of rigid-flexible coupling and the moment of inertia at the end of the flexible intermediate link, the modal function is determined with the pinned-free boundary condition. Then, considering the main vibration modes of the system, a high-efficiency coupling dynamic model is established on the basis of guaranteeing the model control accuracy. According to the model, the modal characteristics of the flexible intermediate link are analyzed and compared with the modal test results. The results show that the model can effectively reflect the main vibration modes of the planar 3-RRR FPM; in addition the model can be used to analyze the effects of inertial and coupling forces on the dynamics model and the drive torque of the drive motor. Because this model is of the less dynamic parameters, it is convenient to carry out the control program.http://dx.doi.org/10.1155/2017/1582547 |
| spellingShingle | Lianchao Sheng Wei Li Yuqiao Wang Mengbao Fan Xuefeng Yang Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions Shock and Vibration |
| title | Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions |
| title_full | Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions |
| title_fullStr | Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions |
| title_full_unstemmed | Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions |
| title_short | Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions |
| title_sort | dynamic model and vibration characteristics of planar 3 rrr parallel manipulator with flexible intermediate links considering exact boundary conditions |
| url | http://dx.doi.org/10.1155/2017/1582547 |
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