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Dynamics analysis of spatial parallel robot with rigid and flexible links
Qingyun Zhang1, Xinhua Zhao1,2, Liang Liu2
1School of Computer Science and Engineering, Tianjin University of Technology, Tianjin 300384, China.
Mathematical Biosciences and Engineering : MBE
|December 31, 2020
Summary
This study analyzes rigid-flexible coupling in parallel robots using a floating frame of reference (FFR) model. The FFR model accurately captures deformation and dynamic performance differences caused by flexible links.
Area of Science:
- Robotics
- Mechanical Engineering
- Dynamic Systems Analysis
Background:
- Traditional robot models often simplify links as either purely rigid or purely flexible.
- Existing rigid-flexible coupling models may not fully account for non-constant inertia and stiffness matrices.
- Accurate dynamic performance analysis is crucial for advanced robotic systems.
Purpose of the Study:
- To develop a dynamic model for parallel robots with flexible spatial links using the floating frame of reference (FFR) formulation.
- To analyze the impact of rigid-flexible coupling on the dynamic performance of these robots.
- To compare the FFR model with ideal rigid-body and finite element analysis (FEA) models.
Main Methods:
- Derivation of a dynamic model for a parallel robot with flexible spatial links using the FFR formulation.
- Establishment of dynamics solutions using both an ideal rigid-body model and the FFR model.
- Construction and comparison with a finite element analysis (FEA) model incorporating rigid and flexible links.
Main Results:
- The FFR and FEA models showed variations in end-effector motion trajectories compared to the ideal rigid-body model, particularly at trajectory peaks.
- The FFR model, accounting for rigid-flexible coupling and micro-displacements, predicted the largest amount of deformation.
- Non-constant inertia and stiffness matrices in the FFR model lead to distinct dynamic performance characteristics.
Conclusions:
- The FFR formulation provides a more accurate representation of dynamic performance in parallel robots with flexible links.
- Rigid-flexible coupling significantly influences robot dynamics, necessitating advanced modeling techniques.
- The FFR model is effective for analyzing deformation and dynamic behavior in complex robotic systems.
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