Dynamic Modeling and Experimental Verification of an RPR Type Compliant Parallel Mechanism with Low Orders

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外文摘要：Efficiency of calculating a dynamic response is an important point of the compliant mechanism for posture adjust-ment.Dynamic modeling with low orders of a 2R1T compliant parallel mechanism is studied in the paper.The mecha-nism with two out-of-plane rotational and one lifting degrees of freedom(DoFs)plays an important role in posture adjustment.Based on elastic beam theory,the stiffness matrix and mass matrix of the beam element are estab-lished where the moment of inertia is considered.To improve solving efficiency,a dynamic model with low orders of the mechanism is established based on a modified modal synthesis method.Firstly,each branch of the RPR type mechanism is divided into a substructure.Subsequently,a set of hypothetical modes of each substructure is obtained based on the C-B method.Finally,dynamic equation of the whole mechanism is established by the substructure assembly.A dynamic experiment is conducted to verify the dynamic characteristics of the compliant mechanism.

外文关键词：

Compliant parallel mechanismDynamic modelModal synthesis methodDynamic experiment

作者：

Shuang Zhang、Jingfang Liu、Huafeng Ding、Yanbin Zhang

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作者单位：

School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang,Henan,China

Faculty of Materials and Manufacturing,College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijing,China

Key laboratory of advanced manufacturing technology,Beijing University of Technology,Beijing,China

School of Mechanical Engineering and Electronic Information,China University of Geosciences(Wuhan),Wuhan,China

Center of Machinery Equipment Advanced Manufacturing of Henan Province,Luoyang,China

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基金：

National Natural Science Foundation of China

项目编号：

51975007

出版年：

2024

DOI：

10.1186/s10033-024-01050-4