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首页> 外文期刊>International journal of mechanics and materials in design >Dynamic modeling and comparative analysis of a 3-PRR parallel robot with multiple lubricated joints
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Dynamic modeling and comparative analysis of a 3-PRR parallel robot with multiple lubricated joints

机译：具有多个润滑关节的3-PRR并联机器人的动态建模与对比分析

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摘要

This paper presents a methodology to study the dynamic response of a parallel robot with multiple lubricated joints. Based on Gumbel's boundary conditions, the hydrodynamic force of the journal bearing is calculated with the Pinkus-Sternlicht model. Considering the dynamic loads on the multiple lubricated joints, the Pinkus-Sternlicht model is modified to ensure numerical stability of the solution of the system's equations. A comparative analysis of four joint force models is presented to show the advantages of the modified model for a 3-PRR (P and R represent prismatic and revolute pairs respectively and the underline of the P represents the actuated joint) parallel robot. The improvement in the numerical stability of the modified Pinkus-Sternlicht model is proven. Subsequently, the dynamic behavior of the 3-PRR parallel robot with multiple lubricated joints is analyzed comprehensively, compared with the 3-PRR parallel robot with multiple dry clearance joints. Simulation results demonstrate the validity of the dynamic methodology containing the modified Pinkus-Sternlicht model for the 3-PRR parallel robot with multiple lubricated joints. This dynamic methodology can illustrate the better periodicity of such parallel robots considering lubricated joints.
机译：本文提出了一种研究并联机器人用多个润滑关节的动态响应的方法。基于Gumbel的边界条件，用Pinkus-Sternlicht模型计算轴颈轴承的流体动力学力。考虑到多个润滑接头上的动态载荷，修改了PinkUS-Sternlicht模型，以确保系统方程式解决方案的数值稳定性。提出了四个关节力模型的比较分析，示出了3-PRR（P和R分别代表棱柱形和旋转对的改进模型和P的下划线表示致动接头）并联机器人。经过验证的改进的粉末 - Sternlicht模型的数值稳定性的改善是经过验证的。随后，与具有多个干净接头的3-PRR并联机器人相比，全面地分析了具有多个润滑接头的3-PRR并联机器人的动态行为。仿真结果证明了具有多个润滑接头的3-PRR并联机器人的改进的PinkUs-Sternlicht模型的动态方法的有效性。这种动态方法可以说明考虑润滑关节的这种平行机器人的更好周期性。

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  • 作者

    Zhang Haodong; Zhang Xianmin; Zhan Zhenhui; Yang Lixin;

  • 作者单位

    South China Univ Technol Guangdong Key Lab Precis Equipment & Mfg Technol Sch Mech & Automot Engn 381 Wushan Rd Guangzhou 510641 Guangdong Peoples R China;

    South China Univ Technol Guangdong Key Lab Precis Equipment & Mfg Technol Sch Mech & Automot Engn 381 Wushan Rd Guangzhou 510641 Guangdong Peoples R China;

    South China Univ Technol Guangdong Key Lab Precis Equipment & Mfg Technol Sch Mech & Automot Engn 381 Wushan Rd Guangzhou 510641 Guangdong Peoples R China;

    South China Univ Technol Guangdong Key Lab Precis Equipment & Mfg Technol Sch Mech & Automot Engn 381 Wushan Rd Guangzhou 510641 Guangdong Peoples R China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Multibody dynamics; Multiple lubricated joints; 3-PRR parallel robot; Hydrodynamic force;

    机译：多体动力学;多个润滑关节;3-PRR并联机器人;流体动力学力;

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