Research of Dynamics Modeling and Simulation of Rigid-flexible Coupled Parallel Robot

There are elastic deformation and rigid-flexible coupling effects in the motion of parallel mechanism, which have great influence on the motion and stability of the mechanism. Aiming at the above problems, taking the 3-DOF rigid-flexible coupled parallel robot as research object, based on linear MST...

Full description

Saved in:
Bibliographic Details
Main Authors: Wang Linjun, Shi Baozhou, Zhang Dong, Ding Shihao, Liu Jianming
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2019-01-01
Series:Jixie chuandong
Subjects:
Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.10.019
Tags: Add Tag
No Tags, Be the first to tag this record!
_version_ 1841547376613916672
author Wang Linjun
Shi Baozhou
Zhang Dong
Ding Shihao
Liu Jianming
author_facet Wang Linjun
Shi Baozhou
Zhang Dong
Ding Shihao
Liu Jianming
author_sort Wang Linjun
collection DOAJ
description There are elastic deformation and rigid-flexible coupling effects in the motion of parallel mechanism, which have great influence on the motion and stability of the mechanism. Aiming at the above problems, taking the 3-DOF rigid-flexible coupled parallel robot as research object, based on linear MSTMM, the multi-body system model and topological structure model of rigid-flexible coupled robot are established, and the spatial transformation equation and dynamics equation of the whole system are derived. Then the simulation model of robot SimMechanics is established by Matlab software, and the trajectory tracking of the robot is simulated based on PID control strategy. The simulation results show that the actual trajectory of the robot is in good agreement with the expected trajectory, and the system motion is stable. Thus the correctness and effectiveness of the modeling method are verified, a theoretical basis for further research on the parallel mechanism is provided.
format Article
id doaj-art-f0f3dd2287f54a86b89231656e554967
institution Kabale University
issn 1004-2539
language zho
publishDate 2019-01-01
publisher Editorial Office of Journal of Mechanical Transmission
record_format Article
series Jixie chuandong
spelling doaj-art-f0f3dd2287f54a86b89231656e5549672025-01-10T14:45:33ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-01-019710331610691Research of Dynamics Modeling and Simulation of Rigid-flexible Coupled Parallel RobotWang LinjunShi BaozhouZhang DongDing ShihaoLiu JianmingThere are elastic deformation and rigid-flexible coupling effects in the motion of parallel mechanism, which have great influence on the motion and stability of the mechanism. Aiming at the above problems, taking the 3-DOF rigid-flexible coupled parallel robot as research object, based on linear MSTMM, the multi-body system model and topological structure model of rigid-flexible coupled robot are established, and the spatial transformation equation and dynamics equation of the whole system are derived. Then the simulation model of robot SimMechanics is established by Matlab software, and the trajectory tracking of the robot is simulated based on PID control strategy. The simulation results show that the actual trajectory of the robot is in good agreement with the expected trajectory, and the system motion is stable. Thus the correctness and effectiveness of the modeling method are verified, a theoretical basis for further research on the parallel mechanism is provided.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.10.019Parallel robot
spellingShingle Wang Linjun
Shi Baozhou
Zhang Dong
Ding Shihao
Liu Jianming
Research of Dynamics Modeling and Simulation of Rigid-flexible Coupled Parallel Robot
Jixie chuandong
Parallel robot
title Research of Dynamics Modeling and Simulation of Rigid-flexible Coupled Parallel Robot
title_full Research of Dynamics Modeling and Simulation of Rigid-flexible Coupled Parallel Robot
title_fullStr Research of Dynamics Modeling and Simulation of Rigid-flexible Coupled Parallel Robot
title_full_unstemmed Research of Dynamics Modeling and Simulation of Rigid-flexible Coupled Parallel Robot
title_short Research of Dynamics Modeling and Simulation of Rigid-flexible Coupled Parallel Robot
title_sort research of dynamics modeling and simulation of rigid flexible coupled parallel robot
topic Parallel robot
url http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.10.019
work_keys_str_mv AT wanglinjun researchofdynamicsmodelingandsimulationofrigidflexiblecoupledparallelrobot
AT shibaozhou researchofdynamicsmodelingandsimulationofrigidflexiblecoupledparallelrobot
AT zhangdong researchofdynamicsmodelingandsimulationofrigidflexiblecoupledparallelrobot
AT dingshihao researchofdynamicsmodelingandsimulationofrigidflexiblecoupledparallelrobot
AT liujianming researchofdynamicsmodelingandsimulationofrigidflexiblecoupledparallelrobot