Parameter–Excited Instabilities of a 2UPU-RUR-RPS Spherical Parallel Manipulator With a Driven Universal Joint-Reference-Cited by-同舟云学术

Parameter–Excited Instabilities of a 2UPU-RUR-RPS Spherical Parallel Manipulator With a Driven Universal Joint

Published:2018-06-26 Issue:9 Volume:140 Page:
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Wu Guanglei¹

Affiliation:

1. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China e-mail:

Abstract

This paper presents the parametrically excited lateral instabilities of an asymmetrical spherical parallel manipulator (SPM) by means of monodromy matrix method. The linearized equation of motion for the lateral vibrations is developed to analyze the stability problem, resorting to the Floquet theory, which is numerically illustrated. To this end, the parametrically excited unstable regions of the manipulator are visualized to reveal the effect of the system parameters on the stability. Critical parameters, such as rotating speeds of the driving shaft, are identified from the constructed parametric stability chart for the manipulator.

Funder

Doctoral Start-up Foundation of Liaoning Province

Ministry of Education of the People's Republic of China

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/doi/10.1115/1.4040351/6373807/md_140_09_092303.pdf

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