230 Study on the Dynamic Modeling and Lower modes Analysis of Parallel Manipulator

概要

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A new rigidity-elasticity synthetic method for 3-DOF parallel manipulator elastodynamic modeling is proposed in this paper. Having divided the whole system into several substructures and established their dynamic models, the equation of dynamic model of the system as a whole is assembled by using corresponding matrixes. Different lower modes varying with geometrical parameters are obtained through application. The method enjoys the advantages of high efficiency, thereby is convenient for discussing the influences of the geometrical parameters on the lower modes, and lays a theoretical foundation for dynamic stiffness prediction and design of parallel manipulators.
一般社団法人日本機械学会の論文
2003-06-04