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Dynamic finite element analysis of a planar high-speed, high-precision parallel manipulator with flexible links. (English) Zbl 1077.70005

Summary: This paper presents the results of a dynamic finite element analysis of a planar fully parallel robot with flexible links. The method used leads to a set of linear ordinary differential equations of motion. Results show that, for a given high-speed motion, the configuration of the mechanism has a significant influence on the nature of the resultant elastic vibrations. This paper also includes a convergence analysis of the natural frequencies and a mapping of the first mode’s natural frequency with respect to the robot configuration.

MSC:

70E60 Robot dynamics and control of rigid bodies
70-08 Computational methods for problems pertaining to mechanics of particles and systems
74H45 Vibrations in dynamical problems in solid mechanics
74S05 Finite element methods applied to problems in solid mechanics
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