Abstract
SUMMARYThis paper proposes a dynamic modeling method of redundant drive spatial parallel mechanism, dynamics of 4-UPS-RPU redundant driving spatial parallel mechanism considering spherical joint clearance are analyzed. The dynamic equation of spherical joint clearance with Lagrange multiplier is built. The influences of single clearance and multiple clearances on dynamic responses of redundant drive spatial parallel mechanisms are analyzed under different clearance values. The results show that the dynamic characteristics of the mechanism with single clearance are basically consistent with the ideal situation, and the dynamic characteristics of the mechanism with multi-clearance are significantly different from the ideal situation.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference29 articles.
1. Dynamic and motion consistency analysis for a planar parallel mechanism with revolute dry clearance joints
2. Dynamics analysis of 5UPS/PRPU parallel machine tool with redundant actuation based on Kane equation;Lu;Trans. Chin. Soc. Agric. Mach.,2016
3. Bifurcation in a planar four-bar mechanism with revolute clearance joint
4. The effects of joint clearance on the dynamics of the 3RRR planar parallel manipulator
5. Modelling and composite control of single flexible manipulators with piezoelectric actuators;Lu;Shock VibrPlease provide volume number for reference [13].,2016
Cited by
8 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献