Dynamic Analysis of a Mobile Parallel Manipulator with Imperfect Kinematic Joints

doi:10.3901/JME.2019.15.208

Abstract

Abstract: It is the tolerances, design and manufacturing variations and other factors that lead to the objective existence of clearance kinematic joints of manipulators.Nevertheless, the clearances of kinematic joints usually induce the system shock,vibration,fatigue failure and other phenomena, which leads to the decrease of system dynamic performance.Manipulator dynamics directly affects the trajectory tracking accuracy of the end effector of system. Thus, the clearances and friction kinematic joints are considered to study the dynamic properties of a mobile parallel manipulator. Based on the elastic Hertz theory,the LuGre friction model and the joint reactions, the kinematic clearance constraints and the kinetic models are systematically modeled.In order to facilitate the application of multi-body dynamics to analyze the kinetic properties of system, the collision impact direction matrices are firstly proposed and adopted to transform kinetic model of clearance motion into external forces to apply, and then the mobile parallel and double serial dynamic models are constructed. According to the different parameters of kinematic joint clearances, working tracking trajectoriers and loaders, the numerical simulations of dynamic performance are carried out,and then the results are compared and analyzed. And then, the engineering significances of the dynamic analysis of the mobile parallel manipulator with imperfect kinematic joints are discussed.

Key words: Energy dissipation, Insertion velocity, Porcine liver, Puncture force, Suture needle, dynamic performance, kinematic joint clearances, numerical simulation, shock and friction

CLC Number:

TH12

YANG Yuwei, LI Bin, ZHOU Haibo, ZHAO Xinhua, SONG Yang, LIU Liang, ZHAO Lei. Dynamic Analysis of a Mobile Parallel Manipulator with Imperfect Kinematic Joints[J]. Journal of Mechanical Engineering, 2019, 55(15): 208-216.

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