Parameter Excited Instabilities of a 2UPU-RUR-RPS Spherical Parallel Manipulator with a Driven Universal Joint

[+] Author and Article Information
Guanglei Wu

Associate Professor, School of Mechanical Engineering, Dalian University of Technology, 116024 Dalian, China

1Corresponding author.

ASME doi:10.1115/1.4040351 History: Received January 16, 2018; Revised May 09, 2018


This paper presents the parametrically excited lateral instabilities of an asymmetrical spherical parallel manipulator by means of monodromy matrix method. The linearized equation of motion for the lateral vibrations is developed to analyze the stability problem, resorting to the Floquet theory, which is numerically illustrated. To this end, the parametrically excited unstable regions of the manipulator are visualized to reveal the effect of the system parameters on the stability. Critical parameters, such as rotating speeds of the driving shaft, are identified from the constructed parametric stability chart for the manipulator.

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