Effects of inertia parameters of moving platform on the dynamic characteristic of flexible parallel mechanism and optimal design

DU Zhao-cai; YU Yue-qing; SU Li-ying

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Effects of inertia parameters of moving platform on the dynamic characteristic of flexible parallel mechanism and optimal design

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- Effects of inertia parameters of moving platform on the dynamic characteristic of flexible parallel mechanism and optimal design
- Optics and Precision Engineering Vol. 14, Issue 6, Pages: 1009-1016(2006)
- 作者机构：
  
  北京工业大学机电学院北京,100022
- 作者简介：
- 基金信息：
- DOI：
  CLC： TH112;TP242
- Received：21 August 2006，
  
  Revised：27 September 2006，
  
  Published Online：30 December 2006，
  
  Published：30 December 2006
- 稿件说明：
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DU Zhao-cai, YU Yue-qing, SU Li-ying. Effects of inertia parameters of moving platform on the dynamic characteristic of flexible parallel mechanism and optimal design[J]. Optics and precision engineering, 2006, 14(6): 1009-1016.
DOI：

DU Zhao-cai, YU Yue-qing, SU Li-ying. Effects of inertia parameters of moving platform on the dynamic characteristic of flexible parallel mechanism and optimal design[J]. Optics and precision engineering, 2006, 14(6): 1009-1016. DOI：

摘要

利用柔性并联机构的动力学模型

定性地分析了动平台质量、转动惯量对柔性并联机构的动态响应、动态应力及固有频率的影响。以动平台惯性参数边界条件、运动误差、固有频率、动态应力、驱动力矩等限制条件作为约束方程

将机构总质量函数和弹性变形能函数采用线性加权组合成多目标函数

进行多目标优化设计

确定了动平台的最佳惯性参数。通过对平面3- R RR柔性并联机构算例的分析和讨论

说明了动平台惯性参数在柔性并联机构的动力学分析和设计中的重要作用。

Abstract

The effects of the inertia parameters of moving platform on the dynamic response

dynamic stress and natural frequency of flexible parallel mechanisms were studied. The mechanism total mass function is combined with elastic deformation energy function by using linear weighted method to derive the multiple objective function

and the boundary condition of inertia parameters

motion errors

natural frequency

dynamic stresses and driving moments are considered as constraint equations to perform the optimal design. The optimal inertia parameters of moving platform are determined based on the optimal design. The effects of the inertia parameters are well illustrated through the numerical simulation of a planar 3- R RR parallel mechanism. The inertia parameters of moving platform are demonstrated to have significant impact on the dynamic response

dynamic stress and natural frequency of flexible parallel mechanisms

and they should be important parameters for the analysis and design of the flexible parallel mechanisms.

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Related Institution

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Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences

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