Dynamic Modeling and Design for the Parallel Mechanism of a Hybrid Type Parallel Kinematic Machine

概要

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In this paper a spatial rigid-elastic coupling multibody dynamic model is first developed for the parallel mechanism of a hybrid type parallel kinematic machine. The dynamic characteristics of the parallel mechanism are then investigated in detail, based on the developed dynamic equations and finite element model. Simulation results show that the first three orders of fundamental frequencies are dominant factors that influence the dynamic characteristics of the hybrid type parallel mechanism. The multi-objective optimization model is then presented with consideration of fundamental frequency index, driving force index, workspace index and dexterity index. By a goal attainment method, the optimal results are obtained, which are afterwards verified the global optima by means of multiple initial points analysis. The research of this paper provides a methodology for dynamic modeling and design for the kind of parallel kinematic machines.