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Shock and Vibration - Volume 2015 2015, Article ID 938314, 10 pages -

Research Article

College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China

Jiangsu Digital Manufacture Main Laboratory, Huaian 223003, China

Received 11 February 2015; Revised 13 April 2015; Accepted 15 April 2015

Academic Editor: Tony Murmu

Copyright © 2015 Xiulong Chen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The nonlinear elastodynamic modeling and analysis of the 4-UPS-UPU spatial 5-degree-of-freedom parallel mechanism are investigated. The kinetoelastodynamics theory is used to derive the elastic dynamic equations of 4-UPS-UPU spatial parallel mechanism. In order to grasp the effect of geometric nonlinearity on dynamic behaviors, such as displacement error output, velocity error output, acceleration error output, stress of driving limbs, and natural frequencies, the variations of dynamic behaviors considering geometric nonlinearity and without considering geometric nonlinearity are discussed, respectively. The numerical simulation results show the nonlinear elastodynamic model established can reasonably reflect the dynamic behaviors of 4-UPS-UPU spatial parallel mechanism with flexible driving limbs. And geometric nonlinearity is demonstrated to have significant impact on dynamic response and dynamic characteristics of spatial parallel mechanism. The researches can provide important theoretical base for the optimal design of spatial parallel mechanism.

Autor: Xiulong Chen, Yunfeng Li, Yu Deng, Wenbin Li, and Haibin Wu



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