NDLI: Kinematics and Dynamics of 3-RRC Flexible Parallel Manipulator

Content Provider	IEEE Xplore Digital Library
Author	Liu Shanzeng Zhu Zhencai Li Zhongkai Liu ChuSheng Yu Yueqing
Copyright Year	2010
Abstract	In applications where high stiffness, high accuracy, high speed, high payload, and good dynamic performance are predominant requirements, parallel manipulators offer obvious advantages over serial ones. However, dynamic modeling and analysis of parallel manipulator, which are characterized by multiple closed-loop chains, are generally more complex than in the serial mechanism case. Especially, dynamic problems of the parallel manipulators with flexible links have not been studied as extensively. The primary goal of this research is the kinematics and dynamics simulation of a 3-RRC flexible parallel manipulator. The architecture of the mechanism is comprised of a moving platform attached to a fixed platform through three identical revolute-revolute- cylindric jointed serial linkages. Firstly, the virtual prototype of a 3-RRC flexible parallel manipulator is established on the basis of the finite element software SAMCEF. Then, the displacement, velocity and dynamic stress of the 3-RRC flexible parallel manipulator are analyzed. The simulation results show that the flexibility of link has important influence on kinematics and dynamics performance of the flexible parallel manipulator. The analysis could provide necessary information for dynamic performance analysis, optimal design and control of the 3-RRC parallel mechanism.
Starting Page	1
Ending Page	4
File Size	304903
Page Count	4
File Format	PDF
ISBN	9781424471591
e-ISBN	9781424471614
DOI	10.1109/ICEEE.2010.5660726
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-11-07
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Automation Robot kinematics Kinematics Mechanical engineering Manipulator dynamics
Content Type	Text
Resource Type	Article

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