Author:
Chen Xinyu,Wang Leilei,Chen Yayu,Guo Fei
Abstract
Abstract
To address the issue of complicated dynamics modeling and difficult solution of 3-RRR flexible parallel robot, we propose a method of building a flexible parallel robot dynamics model using screw bond graph. Firstly, the structure of the flexible parallel robot is analyzed; secondly, the multi-energy domain dynamics model of the robot is built using screw bond graph and vector bond graph considering the elastomeric transformation in the middle flexible linkage; finally, based on the model, the closed-loop control strategy for suppressing harmful vibration of the system, and the speed loop error compensation for different control parameters is also studied. Author establishes the vector bond and spin bond conversion junction type based on the power conservation transfer principle, which realizes the combination of rigid and flexible system in this paper. And we construct the dynamical model of multi-energy domain flexible parallel robot system.
Subject
General Physics and Astronomy
Reference6 articles.
1. Explicit dynamic modeling with joint friction and coupling analysis of a 5-DOF hybrid polishing robot;Guo;Mechanism and Machine Theory,2022
2. Dynamic characteristics analysis of a rotating flexible curved beam with a concentrated mass;Wu;Chinese Journal of Theoretical and Applied Mechanics,2019
3. Design and experimental validation of a disturbing force application unit for simulating spacecraft separation;Senhao;Aerospace Science and Technology,2021
4. A coupling dynamics and modal characteristics study on a flexible planar 3-RRR parallel robot;Sheng;Journal of Vibration and Shock,2018
5. Global dynamic modeling of electro-hydraulic 3-UPS/S parallel stabilized platform by bond graph;Zhang;Chinese Journal of Mechanical Engineering,2016