Effect of Axial Forces on Lateral Stiffness of a Flexible 3-PRR Parallel Manipulator Moving With High-speed

摘要：

This paper investigates the effect of longitudinal forces on lateral stiffness of a moving 3-PRR parallel manipulator with three flexible intermediate links based on the assumed mode method.First,a dynamic model of the manipulator system is developed by adopting the assumed mode method.In this dynamic model,the effect of longitudinal forces on lateral stiffness is included,and flexible intermediate links are modeled as Euler-Bernoulli beams with proper pinned-pinned boundary conditions which are validated by experimental modal tests.Then,natural frequencies of bending vibration of intermediate links are derived as the functions of axial force and rigid-body motion of the manipulator.The effect of longitudinal forces on lateral stiffness of intermediate links and configuration- dependant frequency properties are revealed by the frequency functions.Numerical simulations and analysis of configuration- dependent frequency properties are performed,and further validate the theoretical derivation.These analyses and results provide a valuable insight to the design and control of the parallel manipulator with flexible intermediate links.

关键词： Flexible manipulators Parallel manipulators Assumed mode method Dynamic stiffening Axial force

作者: Xuping Zhang James.K.Mills William.L.Cleghorn

作者单位: Department of Mechanical and Industrial Engineering,University of Toronto 5 King s College Road,Toronto,Ontario,Canada,M5S 3G8

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 1458-1463

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）