Hostname: page-component-78c5997874-g7gxr Total loading time: 0 Render date: 2024-11-13T04:02:40.116Z Has data issue: false hasContentIssue false
  • English
  • Français

Effects of Spherical Clearance Joint on Dynamics of Redundant Driving Spatial Parallel Mechanism

Published online by Cambridge University Press:  10 September 2020

Xiulong Chen Open the ORCID record for Xiulong Chen [Opens in a new window]  and
Jingyao Guo
Xiulong Chen*
Affiliation:
College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China
Jingyao Guo
Affiliation:
College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China
*
*Corresponding author. E-mail: cxldy99@163.com
Get access Rights & Permissions [Opens in a new window]

Summary

This paper proposes a dynamic modeling method of redundant drive spatial parallel mechanism, dynamics of 4-UPS-RPU redundant driving spatial parallel mechanism considering spherical joint clearance are analyzed. The dynamic equation of spherical joint clearance with Lagrange multiplier is built. The influences of single clearance and multiple clearances on dynamic responses of redundant drive spatial parallel mechanisms are analyzed under different clearance values. The results show that the dynamic characteristics of the mechanism with single clearance are basically consistent with the ideal situation, and the dynamic characteristics of the mechanism with multi-clearance are significantly different from the ideal situation.

Keywords

Spherical joint clearanceRedundant driveSpatial parallel mechanismLagrange multiplier methodDynamic characteristics
Type
Article
Information
Robotica , Volume 39 , Issue 6 , June 2021 , pp. 1064 - 1080
Copyright
© The Author(s), 2020. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Ting, K. L., Zhu, J. and Watkins, D., “Effects of joint clearance on position and orientation deviation of linkages and manipulators,” Mech. Mach. Theory 35(3), 391–401 (2000).CrossRefGoogle Scholar
Ting, K. L., Hsu, K. L., Yu, Z. and Wang, J., “Clearance-induced output position uncertainty of planar linkages with revolute and prismatic joints,” Mech. Mach. Theory 111, 66–75 (2017).CrossRefGoogle Scholar
Chen, X., Jiang, S., Wang, S. and Deng, Y., “Dynamics analysis of planar multi-DOF mechanism with multiple revolute clearances and chaos identification of revolute clearance joints,” Multibody Syst. Dyn. 47(4), 317–345 (2019).CrossRefGoogle Scholar
Bai, Z., Zhao, Y. and Chen, J., “Dynamics analysis of planar mechanical system considering revolute clearance joint wear,” Tribol. Int. 64, 85–95 (2013).CrossRefGoogle Scholar
Li, J., Wang, S., Li, B. and Zhi, C., “Dynamics analysis of square unit and its combined mechanism with joint clearance,” J. Harbin Inst. Technol. (New Ser.) 25(06), 63–69 (2018).Google Scholar
Wang, X., Liu, G., Ma, S. and Tong, R., “Effects of restitution coefficient and material characteristics on dynamic response of planar multi-body systems with revolute clearance joint,” J. Mech. Sci. Technol. 31(2), 587–597 (2017).CrossRefGoogle Scholar
Zheng, X., Zhang, R. and Wang, Q., “Comparison and analysis of two Coulomb friction models on the dynamic behavior of slider-crank mechanism with a revolute clearance joint,” Appl. Math. Mech. 39(9), 1239–1258 (2018).CrossRefGoogle Scholar
Tan, H., Hu, Y. and Li, L., “A continuous analysis method of planar rigid-body mechanical systems with two revolute clearance joints,” Multibody Syst. Dyn. 40(4), 347–373 (2016).CrossRefGoogle Scholar
Varedi-Koulaei, S. M., Daniali, H. M. and Farajtabar, M., “The effects of joint clearance on the dynamics of the 3RRR planar parallel manipulator,” Robotica 35(6), 1223–1242 (2016).CrossRefGoogle Scholar
Zhang, X., Zhang, X. and Chen, Z., “Dynamic analysis of a 3-RRR parallel mechanism with multiple clearance joints,” Mech. Mach. Theory 78, 105–115 (2014).CrossRefGoogle Scholar
Xu, B., Wang, X., Ji, X., Tong, R. and Xue, Y., “Dynamic and motion consistency analysis for a planar parallel mechanism with revolute dry clearance joints,” J. Mech. Sci. Technol. 31(7), 3199–3209 (2017).CrossRefGoogle Scholar
Song, Z., Yang, X., Huang, H. and Li, B., “Dynamic analysis of planar mechanisms with revolute clarence joints based on two evaluation indices,” Mech. Des. Struct. Mach. 44(3), 231–249 (2016).CrossRefGoogle Scholar
Lu, E., Li, W., Yang, X., Fan, M. and Liu, Y., “Modelling and composite control of single flexible manipulators with piezoelectric actuators,” Shock VibrPlease provide volume number for reference [13]., 2016, 1–14 (2016).Google Scholar
Lu, E., Li, W., Yang, X., Wang, Y. and Liu, Y., “Optimal placement and active vibration control for piezoelectric smart flexible manipulators using modal H2 norm,” J. Intell. Mater. Syst. Struct. 29(11), 2333–2343 (2018).CrossRefGoogle Scholar
Wang, G. and Liu, H., “Dynamics analysis of 4-SPS/CU parallel mechanism with spherical joint clearance,” J. Mech. Eng. 51(1), 43–51 (2015).CrossRefGoogle Scholar
Niu, X., Gao, G., Liu, X. and Bao, Z., “Dynamics modeling and experiments of 3-DOF parallel mechanism with actuation redundancy,” Trans. Chin. Soc. Agric. Eng. 29(16), 31–41 (2013).Google Scholar
Zhang, X. and Zhang, X., “Minimizing the influence of revolute joint clearance using the planar redundantly actuated mechanism,” Robot. Comput.-Integr. Manuf. 46, 104–113 (2017).CrossRefGoogle Scholar
Liang, D., Song, Y., Sun, T. and Dong, G., “Optimum design of a novel redundantly actuated parallel manipulator with multiple actuation modes for high kinematic and dynamic performance,” Nonlinear Dyn. 83(1–2), 631–658 (2015).CrossRefGoogle Scholar
Wang, L., Wu, J., Wang, J. and You, Z., “An experimental study of a redundantly actuated parallel manipulator for a 5-DOF hybrid machine tool,” IEEE/ASME Trans. Mechatron. 14(1), 72–81 (2009).CrossRefGoogle Scholar
Wen, S., Yu, H., Zhang, B. and Zhao, Y., “Fuzzy identification and delay compensation based on the force/position control scheme of the 5-DOF redundantly actuated parallel robot,” Int. J. Fuzzy Syst. 19(1), 124–140 (2016).CrossRefGoogle Scholar
Niu, X., Gao, G., Liu, X. and Bao, Z., “Dynamic formulation and simplified model of a novel 3-DOF parallel mechanism with actuation redundancy,” J. Mech. Eng. 50(19), 41 (2014).CrossRefGoogle Scholar
Wang, L., Xu, H. and Guan, L., “Kinematics and inverse dynamics analysis for a novel 3-PUU parallel mechanism,” Robotica 35(10), 2018–2035 (2016).Google Scholar
Liang, D., Song, Y., Sun, T. and Jin, X., “Rigid-flexible coupling dynamic modeling and investigation of a redundantly actuated parallel manipulator with multiple actuation modes,” J. Sound Vibr. 403, 129–151 (2017).CrossRefGoogle Scholar
Lu, L., Yao, J., Gu, W., Liang, L., Xu, Y. and Zhao, Y., “Dynamics analysis of 5UPS/PRPU parallel machine tool with redundant actuation based on Kane equation,” Trans. Chin. Soc. Agric. Mach. 47(06), 366–372 (2016.).Google Scholar
Yao, J., Gu, W., Feng, Z., Chen, L., Xu, Y. and Zhao, Y., “Dynamic analysis and driving force optimization of a 5-DOF parallel manipulator with redundant actuation,” Robot. Comput.-Integr. Manuf. 48, 51–58 (2017).CrossRefGoogle Scholar
Flores, P., Koshy, C. S., Lankarani, H. M., Ambrósio, J. and Claro, J. C. P., “Numerical and experimental investigation on multibody systems with revolute clearance joints,” Nonlinear Dyn. 65(4), 383–398 (2010).CrossRefGoogle Scholar
Farahan, S. B., Ghazavi, M. R. and Rahmanian, S., “Bifurcation in a planar four-bar mechanism with revolute clearance joint,” Nonlinear Dyn. 87(2), 955–973 (2016).CrossRefGoogle Scholar
Gummer, A. and Sauer, B., “Modeling planar slider-crank mechanisms with clearance joints in RecurDyn,” Multibody Syst. Dyn. 31(2), 127–145 (2012).CrossRefGoogle Scholar
Muvengei, O., Kihiu, J. and Ikua, B., “Dynamic analysis of planar multi-body systems with LuGre friction at differently located revolute clearance joints,” Multibody Syst. Dyn. 28(4), 369–39 3 (2012).CrossRefGoogle Scholar