Elastodynamics of a Rigid-Flexible 3-RRR Mechanism with Joint Clearances
The purpose of this paper is to analyze the elastodynamics of a rigid-flexible planar 3-RRR parallel mechanism with multiply joint clearances.In order to reduce the global system coordinates,the nature coordinate is used to model the rigid link,while the absolute nodal coordinate formulation is employed to model the flexure link.Full description of the revolute joint with clearance is given,a continuous dissipative Hertz contact model is applied to describe the contact phenomenon in the joint.Two-step Bathe integration method is utilized to solve the nonlinear system motion equations.Detailed comparisons are made among the systems under different situations.Results demonstrate that the methodology can represent the dynamic performances of the system with link flexibility and joint clearance well.
Elastodynamics Joint clearance 3-RRR mechanism Contact model
Xuchong Zhang Xianmin Zhang
School of Design, South China University of Technology,Guangzhou 510006, China Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China
国际会议
广州
英文
1185-1198
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）