Ấn phẩm:
Modeling of parallel manipulators with flexible links and joints driven by electric actuators
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This paper presents the approach of building a mathematical model for a parallel robotic manipulator with flxible links and elastic joints. The links to the base are assumed to be rigid bodies, and the thin connecting rods are assumed to be flxible links. The elasticity of the transmission from the actuators to the transmission is modeled by a torsional spring and viscous damper. This is a mixed system of rigid bodies, spring, and flxible links. The deformation motion of the elastic link is approximated by shape functions similar to the fiite element method. The differential equations of motion are established by combining the substructure method and the Lagrange equation of the 2nd kind for the serial multibody system. Based on the differential equation established for the parallel robot manipulator of fie bars, numerical simulations were carried out to investigate the response of the system.
Mô tả
Vietnam Journal of Mechanics, Vol. 44, No. 4
Tác giả
Nguyen, Quang Hoang
Benjamin, Boudon
BAE, Hyun-Jun
Dang, Thu Thuy
Bouzgarrou, Chedli
Người hướng dẫn
Nơi xuất bản
Nhà xuất bản
Viện Cơ học, Viện Hàn lâm Khoa học và Công nghệ Việt Nam
Năm xuất bản
2022-12
ISSN tạp chí
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Từ khóa chủ đề
Parallel robot manipulator , Elastic links , Elastic joints , Modeling , Numerical simulation