Skip to main content
Springer Nature Link
Log in

Analysis on Rigid-Elastic Coupling Characteristics of Planar 3-RRR Flexible Parallel Mechanisms

  • Conference paper
  • First Online:
Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10463))

Included in the following conference series:

Abstract

Based on the finite element method and Lagrange equation, high dimensions, time-invariant, nonlinear rigid-elastic coupling dynamic equations are established, in which the coupling influence of elastic deformation motion and the rigid body motion are considered. A comparative analysis of one-step method and two-step method for solving nonlinear rigid-elastic coupling dynamic equations is given. The simulation results show that the elastic vibrations of the flexible links have important effect on rigid body motion, particularly for angular velocity and angular acceleration. There are some errors in the amplitudes and phases of the elastic displacements and the elastic rotation angle for the two methods, rigid-elastic coupling of flexible links will critical influence elastic deformation displacements and elastic rotate angle of the moving platform, but change rule of the kinematic variables are basically consistent. So, one-pass method is used to solve dynamic equation of rigid-elastic coupling system that can reflect the dynamic characteristics well, it can provide guidance for controller design in future.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Gasparetto, A.: On the modeling of flexible-link planar mechanisms: experimental validation of an accurate dynamic model. ASME J. Dyn. Syst. Meas. Control 126(2), 365–375 (2004)

    Article  Google Scholar 

  2. Nagarajan, S., Turcic, D.A.: Lagrangian formulation of the equations of motion for elastic mechanisms with mutual dependence between rigid body and elastic motions. Part I: element level equations. ASME. J. Dyn. Syst. Meas. Control 112(2), 203–214 (1990)

    Article  Google Scholar 

  3. El-Absy, H., Shabana, A.A.: Coupling between rigid body and deformation modes. J. Sound Vibr. 198(5), 617–637 (1996)

    Article  Google Scholar 

  4. Yang, Z., Sadler, J.P.: A one-pass approach to dynamics of high-speed machinery through three-node lagrangian beam elements. Mech. Mach. Theory 34(7), 995–1007 (1999)

    Article  MATH  Google Scholar 

  5. Karkoub, K., Yigit, A.S.: Vibration control of a four-bar mechanism with a flexible coupler link. J. Sound Vibr. 222(2), 171–189 (1999)

    Article  Google Scholar 

  6. Xuping, Z., Mills, J.K., Cleghorn, W.L.: Coupling characteristics of rigid body motion and elastic deformation of a 3-PRR parallel manipulator with flexible links. Multibody Syst. Dyn. 21, 167–192 (2009)

    Article  MATH  MathSciNet  Google Scholar 

  7. Zhang, Q.H., Zhang, X.M.: Dynamicmodeling and analysis of planar 3-RRR flexible parallel robots. J. Vibr. Eng. 26(2), 239–245 (2013)

    Google Scholar 

  8. Zhang, Q., Fan, X., Zhang, X.: Dynamic analysis of planar 3-RRR flexible parallel robots with dynamic stiffening. Shock Vibr. 2014, 1–13 (2014). doi:10.1155/2014/370145. Article ID: 370145

    Google Scholar 

Download references

Acknowledgments

This work was supported by the National Natural Science Foundation of China (Grants nos. U1501247, 61603103, and 51505092), the of Natural Science Foundation Guangdong Province (Grants nos. 2014A030313616, 2015A030310181, and 2016A030310293), the Science and Technology Planning Project of Guangdong Province (2014A010104017 and 2015B010101015), and the Science and Technology Innovation Project of Foshan (2015AG10018). These supports are greatly acknowledged.

Author information

Authors and Affiliations

  1. Department of Mechatronics, Foshan University, Foshan, 528000, Guangdong, China

    Qinghua Zhang & Qinghua Lu

Authors
  1. Qinghua Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Qinghua Lu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Qinghua Zhang .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Zhang, Q., Lu, Q. (2017). Analysis on Rigid-Elastic Coupling Characteristics of Planar 3-RRR Flexible Parallel Mechanisms. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_34

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-65292-4_34

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65291-7

  • Online ISBN: 978-3-319-65292-4

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation