Dynamic Modeling with Joint Friction and Research on the Inertia Coupling Property of a 5-PSS/UPU Parallel Manipulator

doi:10.3901/JME.2019.03.043

Abstract

Abstract: In order to apply the parallel mechanism to the sea level recovery platform of spacecraft, a new five-degree-of-freedom parallel mechanism called 5-PSS/UPU parallel mechanism, which can realize three-shift and two-rotation, is proposed as a flexible adaptive dynamic balancing device. Due to the multi-close-loop structure of parallel mechanism, there is a serious inertia coupling between the driving branches, which will cause difficulties in the control of the parallel mechanism and affect the dynamic performance of the mechanism. Thus it is significant to study and evaluate the inertia coupling property of the parallel mechanism. Firstly, the positive and negative solutions of the mechanism are deducted by vector motion. Secondly, The dynamics model of 5-PSS/UPU parallel mechanism is established by Newton-Euler method under the condition of joints friction effect. The numerical simulation of the mechanism dynamic model was carried out, which shows that the max errors of each driving forces were 1.62%, 0.48%, 3.85%, 1.21%, 5.13%. Then, based on dynamic model, analysis coupling characteristic and obtain the inertia coupling evaluation index in the different poses of this parallel mechanism workspace. The result shows that, to some extent, optimization the reasonable motion trajectory can reduce the influence of dynamic coupling characteristics on the dynamics performance of the parallel mechanism.

Key words: 5-PSS/UPU parallel mechanism, dynamic performance, friction modeling, inertia coupling, Newton-Euler method

CLC Number:

TP24

LI Yanbiao, ZHENG Hang, SUN Peng, XU Taotao, WANG Zhesheng, QIN Songyang. Dynamic Modeling with Joint Friction and Research on the Inertia Coupling Property of a 5-PSS/UPU Parallel Manipulator[J]. Journal of Mechanical Engineering, 2019, 55(3): 43-52.

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