In this paper we provide a vibration analysis model and the modeling method for a fully flexible 3-Parallel-Revolute-joint-and-Spherical-joint (3PRS) manipulator—a sliding-leg tripod with flexible links and joints. A series of tripod configurations are set by rigid kinematics for simulation and experiment. All the links are modeled by finite elements: triangular membranes combined with bending plates for the moving platform and spatial beams for the legs. The joint complication is overcome by modeling the joint constraints as virtual springs. The nodal coordinates are statically condensed in order to validate the model. Using eigenvalue sensitivity analysis in terms of the condensed coordinates, the stiffness parameters of the joint virtual springs are adjusted in the experimental configurations until the acceleration frequency response functions (FRFs) from the calculation agree with the ones from the impact tests. The adjusted joint parameters are interpolated linearly into a series of configurations in simulation. The analysis shows that the model with the modified joints proposed in this paper is more effective than the conventional model with ideal joints for predicting the system natural frequencies and their variations against different tripod configurations. The good agreement between the simulation and the experiment at resonant peaks of the FRFs indicates the effectiveness of the modeling method.
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e-mail: fengxi@ryerson.ca
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March 2006
Research Papers
Modeling of a Fully Flexible 3PRS Manipulator for Vibration Analysis
Zili Zhou,
Zili Zhou
Department of Mechanical Engineering,
Queen’s University
, Kingston, Ontario, K7L 3N6, Canada
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Jeff Xi,
Jeff Xi
Department of Aerospace Engineering,
e-mail: fengxi@ryerson.ca
Ryerson University
, Toronto, Ontario, M5B 2K3, Canada
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Chris K. Mechefske
Chris K. Mechefske
Department of Mechanical Engineering,
Queen’s University
, Kingston, Ontario, K7L 3N6, Canada
Search for other works by this author on:
Zili Zhou
Department of Mechanical Engineering,
Queen’s University
, Kingston, Ontario, K7L 3N6, Canada
Jeff Xi
Department of Aerospace Engineering,
Ryerson University
, Toronto, Ontario, M5B 2K3, Canadae-mail: fengxi@ryerson.ca
Chris K. Mechefske
Department of Mechanical Engineering,
Queen’s University
, Kingston, Ontario, K7L 3N6, CanadaJ. Mech. Des. Mar 2006, 128(2): 403-412 (10 pages)
Published Online: July 8, 2005
Article history
Received:
January 20, 2005
Revised:
July 8, 2005
Citation
Zhou, Z., Xi, J., and Mechefske, C. K. (July 8, 2005). "Modeling of a Fully Flexible 3PRS Manipulator for Vibration Analysis." ASME. J. Mech. Des. March 2006; 128(2): 403–412. https://doi.org/10.1115/1.2167655
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