| 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 Author | Luo, Haitao(luohaitao@sia.cn) |
| 2019-03-13 | |
| Source Publication | ADVANCES IN MECHANICAL ENGINEERING
 |
| ISSN | 1687-8132 |
| Volume | 11Issue:3Pages:12 |
| Abstract | Kinematics 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. |
| Keyword | Co-simulation kinematics multi-software platform rigid-flexible coupling dynamics 3-revolute-prismatic-sphericalparallel robot |
| Funding Organization | National Natural Science Foundation of China ; Youth Innovation Promotion Association, Chinese Academy of Sciences (CAS) ; Jiang Xinsong Innovation Fund |
| DOI | 10.1177/1687814019826450 |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | National Natural Science Foundation of China[51505470] ; Youth Innovation Promotion Association, Chinese Academy of Sciences (CAS)[2018237] ; Jiang Xinsong Innovation Fund |
| WOS Research Area | Thermodynamics ; Engineering |
| WOS Subject | Thermodynamics ; Engineering, Mechanical |
| WOS ID | WOS:000461170700001 |
| Publisher | SAGE PUBLICATIONS LTD |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.imr.ac.cn/handle/321006/132331 |
| Collection | 中国科学院金属研究所 |
| Corresponding Author | Luo, Haitao |
| Affiliation | 1.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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