Journal of South China University of Technology(Natural Science Edition) ›› 2012, Vol. 40 ›› Issue (11): 52-57.

• Mechanical Engineering • Previous Articles     Next Articles

Elastodynamic Analysis of Planar 3-RRR and 3-PRR Flexible Parallel Robots

Zhang Qing-hua  Zhang Xian-min   

  1. Guangdong Province Key Laboratory of Precision Equipment and Manufacturing Technology,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2012-04-16 Revised:2012-06-18 Online:2012-11-25 Published:2012-10-01
  • Contact: 张清华(1984-) ，男，博士生，主要从事并联机器人研究． E-mail:zhang_h_hua@yahoo.com.cn
  • About author:张清华(1984-) ，男，博士生，主要从事并联机器人研究．
  • Supported by:

    国家自然科学基金重大研究计划项目( 91223201) ; 国家杰出青年科学基金资助项目( 50825504) ; NSFC-广东联合基金资助项目( U0934004) ; 广东省高等学校珠江学者岗位计划( 2010) 资助项目; 华南理工大学中央高校基本科研业务费资助项目( 2012ZP0004)

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Abstract:

In this paper,first,a flexible link is transformed into several discrete beam elements by means of the finite element method. Then,the elastodynamic models of planar 3-RRR and 3-PRR flexible parallel robots are established based on the floating coordinate system and the Lagrange equation,in which the lumped mass and the lumped moment of inertia of each joint and the moving platform,along with the Coriolis inertia forces and the centrifugal forces of rigid motion,are taken into consideration. With these models,the dynamic characteristics of the two above-mentioned robot systems,including the natural frequency,the elastic displacement and angle of the moving platform as well as the maximum stress of each flexible link,are compared. The results indicate that the dynamic performance of planer 3-RRR robot is superior to that of 3-PRR robot with the same parameters. The findings build up a theoretical foundation for the type selection of planar full 3-DOF flexible parallel robots.

Key words: parallel robot, elastodynamics, dynamic characteristic, natural frequency, finite element method

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