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首页> 外文期刊>American Journal of Mechanical and Industrial Engineering >Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations
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Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations

机译：考虑平台刚度的柔性连杆平面并联机械手的动力学分析

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This paper presents dynamic analysis studies of planar parallel flexible 3-RRR manipulator with and without considering the flexibility of mobile platform. Initially, by treating all the members of the manipulator as flexible, the joint displacements, reaction forces and stresses are obtained during a specified trajectory tracking in Cartesian space. A comparative study is conducted with manipulator configuration having rigid mobile platform using coupled dynamics of limbs and kinematic constraints of mobile platform. Dynamic response of flexible manipulator is validated using ANSYS simulations for two different cases of trajectories. The results show a remarkable effect of flexibility of mobile platform on the overall dynamic response. After validation of the model, the inverse dynamic analysis data is used to create the system dynamics by employing generalized regression neural network (GRNN) model and the forward dynamic solutions of the flexible manipulator are predicted instantaneously. This study is useful for the real time implementation of motion control of flexible manipulators with complex dynamic model of manipulators.
机译：本文介绍了在不考虑移动平台灵活性的情况下，平面并联柔性3-RRR机械手的动力学分析研究。最初，通过将操纵器的所有构件视为柔性构件，在笛卡尔空间中的指定轨迹跟踪过程中获得了关节位移，反作用力和应力。使用肢体的耦合动力学和移动平台的运动学约束，对具有刚性移动平台的机械手配置进行了比较研究。使用ANSYS仿真对两种不同情况的轨迹验证了柔性机械手的动态响应。结果表明，移动平台的灵活性对整体动态响应具有显着影响。模型验证后，利用广义回归神经网络（GRNN）模型，利用逆动态分析数据创建系统动力学，并即时预测柔性机械臂的前向动力学解。这项研究对于具有复杂动力学模型的柔性机械臂运动控制的实时实现是有用的。

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