Dynamic Analysis of a 3-RRR Parallel Robot With Joint Clearances Using Natural Coordinates

Author:

Zhang Xuchong1,Zhang Xianmin1

Affiliation:

1. South China University of Technology, Guangzhou, Guangdong, China

Abstract

A general computational methodology for modeling and analysis of planar rigid multibody systems with multi clearance joints is presented. The contact points are important for contact detection, natural coordinate system is implemented to describe the rigid links in order to reduce the amount of calculation. The Lankarani-Nikravesh continuous contact-impact model is used to evaluate the contact force, in which energy dissipation in the form of hysteresis damping is considered. The improved Coulomb’s friction force model is used to describe the friction phenomenon between the joint components. Numerical results for 3-RRR mechanism with revolute clearance joints are presented and discussed. This methodology is further compared with the widely used reference coordinate system, the numerical simulation results show that the presented method is an effective and new method to predict the dynamic characteristics of planar mechanical systems with clearance joints.

Publisher

American Society of Mechanical Engineers

Cited by 2 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

1. Design and analysis of 3-DOF cylindrical-coordinate-based manipulator;Robotics and Computer-Integrated Manufacturing;2018-08

2. A comparative study of planar 3-RRR and 4-RRR mechanisms with joint clearances;Robotics and Computer-Integrated Manufacturing;2016-08

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