中国机械工程学报2024，Vol.37Issue(3) ：83-94.DOI:10.1186/s10033-024-01050-4

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

Shuang Zhang Jingfang Liu Huafeng Ding Yanbin Zhang
中国机械工程学报2024，Vol.37Issue(3) ：83-94.DOI:10.1186/s10033-024-01050-4
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Dynamic Modeling and Experimental Verification of an RPR Type Compliant Parallel Mechanism with Low Orders

Shuang Zhang 1Jingfang Liu 2Huafeng Ding 3Yanbin Zhang4
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作者信息

  • 1. School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang,Henan,China
  • 2. 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
  • 3. Faculty of Materials and Manufacturing,College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijing,China;School of Mechanical Engineering and Electronic Information,China University of Geosciences(Wuhan),Wuhan,China
  • 4. School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang,Henan,China;Center of Machinery Equipment Advanced Manufacturing of Henan Province,Luoyang,China
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Abstract

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.

Key words

Compliant parallel mechanism/Dynamic model/Modal synthesis method/Dynamic experiment

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基金项目

National Natural Science Foundation of China(51975007)

出版年

2024
中国机械工程学报
中国机械工程学会

中国机械工程学报

CSTPCD
影响因子：0.765
ISSN：1000-9345
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