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research-article

Dynamics Model of 4-SPS/CU Parallel Mechanism with Spherical Clearance Joint and Flexible Moving Platform

[+] Author and Article Information
Gengxiang Wang

Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, P.O. Box 373, Xi'an, Shaanxi 710048, China
wanggengxiang27@163.com

Hongzhao Liu

Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, P.O. Box 373, Xi'an, Shaanxi 710048, China
liu-hongzhao@163.com

1Corresponding author.

ASME doi:10.1115/1.4037463 History: Received December 20, 2016; Revised July 17, 2017

Abstract

Effect of flexible body and clearance spherical joint on the dynamic performance of 4-SPS/CU parallel mechanism are analyzed. The flexible moving platform is treated as thin plate element based on Absolute Nodal Coordinate Formulation (ANCF). In order to formulate the parallel mechanism's constraint equations between the flexible body and the rigid body, the tangent frame is introduced to define the joint coordinate. One of the spherical joints between moving platform and kinematic chains is introduced into clearance. The normal and tangential contact forces are calculated based on Flores contact force model and modified Coulomb friction model. The dynamics model of parallel mechanism with clearance spherical joint and flexible moving platform is formulated based on equation of motion. Simulations shows that the dynamic performance of parallel mechanism is not sensitive to the flexible body because of the inherent property of moving platform, however, when the clearance spherical joint is considered into the parallel mechanism with flexible body, the flexible moving platform exhibits cushioning effect to absorb the energy caused by clearance joint.

Copyright (c) 2017 by ASME
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