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Effects of Spherical Clearance Joint on Dynamics of Redundant Driving Spatial Parallel Mechanism

Published online by Cambridge University Press:  10 September 2020

Xiulong Chen Open the ORCID record for Xiulong Chen [Opens in a new window]  and
Jingyao Guo
Xiulong Chen*
Affiliation:
College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China
Jingyao Guo
Affiliation:
College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China
*
*Corresponding author. E-mail: cxldy99@163.com
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Summary

This paper proposes a dynamic modeling method of redundant drive spatial parallel mechanism, dynamics of 4-UPS-RPU redundant driving spatial parallel mechanism considering spherical joint clearance are analyzed. The dynamic equation of spherical joint clearance with Lagrange multiplier is built. The influences of single clearance and multiple clearances on dynamic responses of redundant drive spatial parallel mechanisms are analyzed under different clearance values. The results show that the dynamic characteristics of the mechanism with single clearance are basically consistent with the ideal situation, and the dynamic characteristics of the mechanism with multi-clearance are significantly different from the ideal situation.

Keywords

Spherical joint clearanceRedundant driveSpatial parallel mechanismLagrange multiplier methodDynamic characteristics
Type
Article
Information
Robotica , Volume 39 , Issue 6 , June 2021 , pp. 1064 - 1080
Copyright
© The Author(s), 2020. Published by Cambridge University Press

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