Research Papers: Applications

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
e-mail: 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
e-mail: liu-hongzhao@163.com

Contributed by the Tribology Division of ASME for publication in the JOURNAL OF TRIBOLOGY. Manuscript received December 20, 2016; final manuscript received July 17, 2017; published online September 29, 2017. Assoc. Editor: Sinan Muftu.

J. Tribol 140(2), 021101 (Sep 29, 2017) (10 pages) Paper No: TRIB-16-1395; doi: 10.1115/1.4037463 History: Received December 20, 2016; Revised July 17, 2017

Effects 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 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 show 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.

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Fig. 1

Four nodes plate element

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Fig. 2

4-SPS/CU parallel mechanism

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Fig. 3

Contact kinematic of spherical joint with clearance

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Fig. 4

Spherical joint between rigid body and flexible body

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Fig. 5

Universal joint between rigid body and flexible body

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Fig. 6

Trajectory of the moving platform

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Fig. 7

Effect of the flexible component and clearance spherical joint on displacement

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Fig. 8

Effect of the flexible component and clearance spherical joint on velocity

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Fig. 9

Effect of the flexible component and clearance spherical joint on acceleration

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Fig. 10

Effect of the flexible component and clearance on reaction force of spherical joint

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Fig. 11

Displacement comparison

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Fig. 12

Velocity comparison

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Fig. 13

Acceleration comparison

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Fig. 14

Contact force comparison

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Fig. 15

Shear stress comparison

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Fig. 16

Normal stress comparison



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