Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations
American Journal of Mechanical and Industrial Engineering
Volume 2, Issue 4, July 2017, Pages: 174-188
Received: Oct. 31, 2016; Accepted: May 13, 2017; Published: Jul. 6, 2017
Views 185      Downloads 9
K. V. Varalakshmi, Department of Mechanical Engineering, NIT Rourkela, Rourkela, India
J. Srinivas, Department of Mechanical Engineering, NIT Rourkela, Rourkela, India
Article Tools
Follow on us
This paper presents dynamic analysis studies of planar parallel flexible 3-RRR manipulator with and without considering the flexibility of mobile platform. Initially, by treating all the members of the manipulator as flexible, the joint displacements, reaction forces and stresses are obtained during a specified trajectory tracking in Cartesian space. A comparative study is conducted with manipulator configuration having rigid mobile platform using coupled dynamics of limbs and kinematic constraints of mobile platform. Dynamic response of flexible manipulator is validated using ANSYS simulations for two different cases of trajectories. The results show a remarkable effect of flexibility of mobile platform on the overall dynamic response. After validation of the model, the inverse dynamic analysis data is used to create the system dynamics by employing generalized regression neural network (GRNN) model and the forward dynamic solutions of the flexible manipulator are predicted instantaneously. This study is useful for the real time implementation of motion control of flexible manipulators with complex dynamic model of manipulators.
Flexible Manipulator, Static Analysis, Dynamic Modeling, Finite Element Method, Kinematic Constraints, Neural Network Model
To cite this article
K. V. Varalakshmi, J. Srinivas, Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations, American Journal of Mechanical and Industrial Engineering. Vol. 2, No. 4, 2017, pp. 174-188. doi: 10.11648/j.ajmie.20170204.13
Copyright © 2017 Authors retain the copyright of this article.
This article is an open access article distributed under the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Z. Yang and JP Sadler, “On issues of elastic-rigid coupling in finite element modeling of high-speed machines,” Mech. Mach. Theory. vol. 35, pp. 71-82, 2000.
A. Shabana, “Flexible multibody dynamics: review of past and recent developments.” Multibody Syst. Dyn. vol. 1, pp. 189–222, 1997.
Z. Zhou, J. Xi and C. K. Mechefske, “Modeling of a fully flexible 3PRS manipulator for vibration analysis”, J Mech. Des., Trans. ASME, vol. 128, pp. 403-412, 2005.
B. Kang and J. K. Mills, “Dynamic modeling of structurally flexible planar parallel manipulator”, Robotica, vol. 20, pp. 329-339, 2002.
X. Y. Wang and J. K. Mills, “FEM dynamic model for active vibration control of flexible linkages and its application to a planar parallel manipulator”, Appl. Acoust., vol. 66, pp. 1151-1161, 2005.
P. K. Subrahmanyan and P. Seshu, “Dynamics of a flexible five bar manipulator”, Comput. Struct. Vol. 63, pp. 283-294, 1997.
E. Abedi, A. A. Nadooshan and S. Salehi, “Dynamic modeling of tow flexible link manipulators”, World Academy of Sci., Eng and Technology, vol. 46, pp. 461-467, 2008.
R. J. Theodore and A. Ghosal, “Comparison of the assumed modes and finite element models for flexible multilink manipulators”, Int. J. Robot. Res., vol. 14, pp. 91-111, 1995.
Z. Du and Y. Yu, “Differential motion equations of 5R flexible parallel robot”, China Mech. Eng. Vol. 19, pp. 75-79, 2008.
M. Farid and W. I. Cleghorn, “Dynamic modeling of multi-flexible-link planar manipulators using curvature-based finite element method”, J. Vib. Control. vol. 20 (11), pp. 1682-1696, 2014.
G. Piras, W. L. Cleghorn and J. K. Mills, “Dynamic finite-element analysis of a planar high-speed, high-precision parallel manipulator with flexible links”, Mech. Mach. Theory. vol. 40 (7), pp. 849–862, 2005.
X. Wang and J. K. Mills, “Dynamic modeling of a flexible-link planar parallel platform using a substructuring approach”, Mech. Mach. Theory. vol. 41 (6), pp. 671–687, 2006.
D. U. Zhao-cai and Y. U. Yue-qing, “Dynamic modeling and inverse dynamic analysis of flexible parallel robots”, Int. J. Adv. Robo. Syst. vol. 5 (1), pp. 115−122, 2008.
S. K. Dwivedy and P. Eberhard, “Dynamic analysis of flexible manipulators: a literature review”, Mech. Mach. Theory. vol. 41 (7), pp. 749-777, 2006.
X. Zhang, J. K. Mills and W. L. Cleghorn, “Dynamic modeling and experimental validation of a 3-PRR parallel manipulator with flexible intermediate links”, J. Intell. Robo. Syst.; vol. 50 (4), pp. 323-340, 2007.
Y. L. Kuo, “Mathematical modeling and analysis of the Delta robot with flexible links”, Comput. Math. App. Vol. 71, pp. 1973–1989, 2016.
B. Subudhi and A. S. Morris, “Dynamic modeling, simulation and control of a manipulator with flexible links and joints”, Robo. Auto. Syst. vol. 41 (4), pp. 257-270, 2002.
T. Zhao, Y. Zhao, L. Shi and J. S. Dai, “Stiffness characteristics and kinematics analysis of parallel 3-DOF mechanism with flexible joints”, In: International Conference on Mechatronics and Automation; Harbin, China; 2007.
Z. Du, Y. Yu and J. Yang, “Analysis of the dynamic stress of planar flexible-links parallel robots”, Front. Mech. Eng. China. vol. 2 (2), pp. 152–158, 2007.
D. Zhaocai, Y. Yueqing and Z. Xuping, “Dynamic modeling of flexible-links planar parallel robots”, Front. Mech. Eng., vol. 3 (2), pp. 232–237, 2008.
J. Hu and X. Zhang, “Dynamic modeling and analysis of a rigid-flexible planar parallel manipulator”, In: IEEE International Conference on Intelligent Computing and Intelligent Systems; Shanghai; 2009, DOI: 10.1109/ICICISYS.2009.5357817.
S. Z. Liu, Y. Q. Yu, Z. C. Zhu, L. Y. Su and Q. B. Liu, “Dynamic modeling and analysis of 3-RRS parallel manipulator with flexible links”. J. Cent. South Univ. Technol. vol. 17, pp. 323−331, 2010.
M. Vakil, R. Fotouhi and P. N. Nikiforuk, “A new method for dynamic modeling of flexible-link flexible-joint manipulators”, J. Vib. Acoust. vol. 134 (1), pp. 014503–014503, 2011.
J. C. P. Reis and J. S. Costa, “Motion planning and actuator specialization in the control of active-flexible link robots”, J. Sound Vib. vol. 331 (14), pp. 3255–3270, 2012.
Q. H. Zhang, X. M. Zhang and J. L. Liang, “Dynamic analysis of planar 3-RRR flexible parallel robot”, In: Proceedings of the IEEE International Conference on Robotics and Biomimetics; Guangzhou, China; 2012.
Q. Zhang and X. Zhang, “Dynamic analysis of planar 3-RRR flexible parallel robots under uniform temperature change”, J. Vib. Control vol. 21 (1), pp. 81–104, 2014.
Q. H. Zhang and X. M. Zhang, “Dynamic modeling and analysis of planar 3-RRR flexible parallel robots”, J. Vib. Eng., vol. 26 (2), pp. 239–245, 2013.
Hou W, Zhang X, Dynamic analysis of flexible linkage mechanisms under uniform temperature change. J. Sound Vib. 2009; 319: 570–592.
Zhang Q, Fan X, Zhang X, Dynamic analysis of planar 3-RRR flexible parallel robots with dynamic stiffening. Shock and Vib. 2014; 1-13.
C. Zhengsheng, K. Minxiu, L. Ming and Y. Wei, “Dynamic modelling and trajectory tracking of parallel manipulator with flexible link”, Int. J. Adv. Robo. Syst. Vol. 10 (328), pp. 1-9, 2013.
Z. Chen, M. Kong, C. Ji and M. Liu, “An efficient dynamic modelling approach for high-speed planar parallel manipulator with flexible links”, Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. vol. 229 (4), pp. 663-678, 2014.
Y. Zhao, F. Gao, X. Dong and X. Zhao, “Dynamics analysis and characteristics of the 8-PSS flexible redundant parallel manipulator”, Robo. Comp. Integ. Manuf, vol. 27, pp. 918–928, 2013.
T. R. Chandrupatla and A. D. Belegundu, Introduction to Finite elements in Engineering, 2nd Ed. Prentice-Hall, NY, 2011.
Science Publishing Group
NEW YORK, NY 10018
Tel: (001)347-688-8931