Rigid-flexible coupled dynamics analysis of 3-revolute-prismatic-spherical parallel robot based on multi-software platform

doi:10.1177/1687814019826450

IMR OpenIR

	Rigid-flexible coupled dynamics analysis of 3-revolute-prismatic-spherical parallel robot based on multi-software platform
	Luo, Haitao 1,2; Fu, Jia 1,2; Jiao, Lichuang 1,2; Chen, Ning 3; Wu, Tingke 1,2
通讯作者	Luo, Haitao(luohaitao@sia.cn)
	2019-03-13
发表期刊	ADVANCES IN MECHANICAL ENGINEERING
ISSN	1687-8132
卷号	11 期号:3 页码:12
摘要	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.
关键词	Co-simulation kinematics multi-software platform rigid-flexible coupling dynamics 3-revolute-prismatic-sphericalparallel robot
资助者	National Natural Science Foundation of China ; Youth Innovation Promotion Association, Chinese Academy of Sciences (CAS) ; Jiang Xinsong Innovation Fund
DOI	10.1177/1687814019826450
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[51505470] ; Youth Innovation Promotion Association, Chinese Academy of Sciences (CAS)[2018237] ; Jiang Xinsong Innovation Fund
WOS研究方向	Thermodynamics ; Engineering
WOS类目	Thermodynamics ; Engineering, Mechanical
WOS记录号	WOS:000461170700001
出版者	SAGE PUBLICATIONS LTD
引用统计	被引频次：4[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.imr.ac.cn/handle/321006/132331
专题	中国科学院金属研究所
通讯作者	Luo, Haitao
作者单位	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
推荐引用方式 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.