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Rigid-flexible coupled dynamics analysis of 3-revolute-prismatic-spherical parallel robot based on multi-software platform
Luo, Haitao1,2; Fu, Jia1,2; Jiao, Lichuang1,2; Chen, Ning3; Wu, Tingke1,2
Corresponding AuthorLuo, Haitao(luohaitao@sia.cn)
2019-03-13
Source PublicationADVANCES IN MECHANICAL ENGINEERING
ISSN1687-8132
Volume11Issue:3Pages:12
AbstractKinematics and dynamics are the most important and basic tool for robot research. With the help of computer technology and the respective advantages of three kinds of software, a new method of co-simulation of parallel robot based on multi-platform is proposed, and the mechanical model of multi-body system of 3-revolute-prismatic-spherical parallel robot is established. According to the mechanical analysis of the parallel robot, the rigid-flexible coupling analysis method is adopted. The displacement error shows a periodic change with a period of 4.2 s and the maximum error is 2x10-4m. The dangerous part of the structure is the root of the lower link, and its maximum stress is 202.64 MPa less than the yield strength of the material. The multi-software platform co-simulation improves the accuracy of the dynamic response analysis of the part under dynamic load, and provides an important theoretical basis for the design and optimization of the parallel robot.
KeywordCo-simulation kinematics multi-software platform rigid-flexible coupling dynamics 3-revolute-prismatic-sphericalparallel robot
Funding OrganizationNational Natural Science Foundation of China ; Youth Innovation Promotion Association, Chinese Academy of Sciences (CAS) ; Jiang Xinsong Innovation Fund
DOI10.1177/1687814019826450
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[51505470] ; Youth Innovation Promotion Association, Chinese Academy of Sciences (CAS)[2018237] ; Jiang Xinsong Innovation Fund
WOS Research AreaThermodynamics ; Engineering
WOS SubjectThermodynamics ; Engineering, Mechanical
WOS IDWOS:000461170700001
PublisherSAGE PUBLICATIONS LTD
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.imr.ac.cn/handle/321006/132331
Collection中国科学院金属研究所
Corresponding AuthorLuo, Haitao
Affiliation1.Chinese Acad Sci, State Key Lab Robot, Shenyang Inst Automat, 114 Nanta St, Shenyang 110016, Liaoning, Peoples R China
2.Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang, Liaoning, Peoples R China
3.Northeastern Univ, Sch Mech Engn & Automat, Shenyang, Liaoning, Peoples R China
Recommended Citation
GB/T 7714
Luo, Haitao,Fu, Jia,Jiao, Lichuang,et al. Rigid-flexible coupled dynamics analysis of 3-revolute-prismatic-spherical parallel robot based on multi-software platform[J]. ADVANCES IN MECHANICAL ENGINEERING,2019,11(3):12.
APA Luo, Haitao,Fu, Jia,Jiao, Lichuang,Chen, Ning,&Wu, Tingke.(2019).Rigid-flexible coupled dynamics analysis of 3-revolute-prismatic-spherical parallel robot based on multi-software platform.ADVANCES IN MECHANICAL ENGINEERING,11(3),12.
MLA Luo, Haitao,et al."Rigid-flexible coupled dynamics analysis of 3-revolute-prismatic-spherical parallel robot based on multi-software platform".ADVANCES IN MECHANICAL ENGINEERING 11.3(2019):12.
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