NDLI: Dynamics simulation for flexible parallel robot

Content Provider	IEEE Xplore Digital Library
Author	Chunxia Zhu Lida Zhu Yongxia Liu Guangqi Cai
Copyright Year	2007
Description	Author affiliation: Sch. of Mech. Eng. & Autom., Northeastern Univ., Shenyang (Chunxia Zhu; Lida Zhu; Yongxia Liu; Guangqi Cai)
Abstract	In this paper the slender rods of the parallel robot is considered to be flexible bodies for solving the dynamics of parallel robot more accurately, but it is very complex to build the mathematic multibody model, we put forward a method to easily resolve it by software. First, the Lagrange equation and modal synthesis method for flexible body are given, and then the cooperative simulation method using ADAMS and ANSYS is presents for solving flexible multibody dynamics of flexible robots, and the concrete steps also are introduced. At last we take a kind of 3-TPT parallel robot as an example to carry out dynamic simulation using the method, and compared simulation results of rigid bodies with ones of flexible bodies. All the results show that: the forces applied on flexible bodies appear high nonlinear, which is more close to the truth, so the simulation results of flexible multibody system are more authentic and can reflect actual dynamic characteristic of parallel robot.
Starting Page	2155
Ending Page	2159
File Size	970603
Page Count	5
File Format	PDF
ISBN	9781424417612
DOI	10.1109/ROBIO.2007.4522503
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Parallel robots Lagrangian functions Nonlinear dynamical systems Finite element methods Deformable models Shape Robotics and automation Kinematics Nonlinear equations Biomimetics ADAMS Parallel robot Flexible body Dynamic simulation ANSYS
Content Type	Text
Resource Type	Article

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