Table of Contents Author Guidelines Submit a Manuscript
Shock and Vibration
Volume 2017, Article ID 1582547, 13 pages
https://doi.org/10.1155/2017/1582547
Research Article

Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions

School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China

Correspondence should be addressed to Wei Li; moc.oohay@215tmuceemc

Received 11 January 2017; Revised 28 March 2017; Accepted 24 May 2017; Published 12 July 2017

Academic Editor: Tai Thai

Copyright © 2017 Lianchao Sheng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. B. Li, “Dynamic analysis of a 3-DOF parallel manipulator,” Journal of Northeastern University (Natural Science), vol. 31, no. 11, pp. 1608–1610, 2010. View at Google Scholar
  2. S. K. Dwivedy and P. Eberhard, “Dynamic analysis of flexible manipulators, a literature review,” Mechanism and Machine Theory, vol. 41, no. 7, pp. 749–777, 2006. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  3. J. Chen, P. C. Hagan, and S. Saydam, “Parametric study on the axial performance of a fully grouted cable bolt with a new pull-out test,” International Journal of Mining Science and Technology, vol. 26, no. 1, pp. 53–58, 2016. View at Publisher · View at Google Scholar · View at Scopus
  4. K. M. Zheng and Q. J. Zhang, “Elastic dynamics and analysis of vibration characteristics of delta robot with joint clearance,” Transactions of the Chinese Society of Agricultural Engineering, vol. 31, no. 14, pp. 39–48, 2015. View at Publisher · View at Google Scholar · View at Scopus
  5. J. Song, T. Zhang, L. Xu, and X. Tang, “Research actuality and prospect of picking robot for fruits and vegetables,” Transactions of the Chinese Society of Agricultural Machinery, vol. 37, no. 5, pp. 158–162, 2006. View at Google Scholar · View at Scopus
  6. Q. C. Li, T. Hu, and C. Y. Wu, “Review of end-effectors in fruit and vegetable harvesting robot,” Transactions of the Chinese Society for Agricultural Machinery, vol. 39, no. 3, pp. 175–179, 2008. View at Google Scholar
  7. S. Arabzadeh Jarkani, H. Khoshdast, E. Shariat, and A. Sam, “Modeling the effects of mechanical parameters on the hydrodynamic behavior of vertical current classifiers,” International Journal of Mining Science and Technology, vol. 24, no. 1, pp. 123–127, 2014. View at Publisher · View at Google Scholar · View at Scopus
  8. X. Wang and J. K. Mills, “Dynamic modeling of a flexible-link planar parallel platform using a substructuring approach,” Mechanism and Machine Theory, vol. 41, no. 6, pp. 671–687, 2006. View at Publisher · View at Google Scholar · View at Scopus
  9. M. Loudini, D. Boukhetala, and M. Tadjine, “Comprehensive mathematical modelling of a lightweight flexible link robot manipulator,” International Journal of Modelling, Identification and Control, vol. 2, no. 4, pp. 313–321, 2007. View at Publisher · View at Google Scholar · View at Scopus
  10. L. Meirovitch and R. Parker, “Fundamentals of vibrations,” Applied Mechanics Reviews, vol. 54, no. 6, article 100, 2001. View at Publisher · View at Google Scholar
  11. Q. Yu and J. Z. Hong, “Some topics on flexible multi-body system dynamics,” Advances in Mechanics, vol. 29, no. 2, pp. 145–154, 2000. View at Google Scholar
  12. Y. Yu, Z. Du, J. Yang, and Y. Li, “An experimental study on the dynamics of a 3-RRR flexible parallel robot,” IEEE Transactions on Robotics, vol. 27, no. 5, pp. 992–997, 2011. View at Publisher · View at Google Scholar · View at Scopus
  13. Q. H. Zhang and X. M. Zhang, “Dynamic analysis of planar 3-RRR flexible parallel robots under uniform temperature change,” Journal of Vibration and Control, vol. 21, no. 1, pp. 81–104, 2015. View at Publisher · View at Google Scholar · View at Scopus
  14. Q. H. Zhang, X. R. Fang, and X. M. Zhang, “Dyanmic analysis of planar 3-RRR flexible parallel robots with dynamic stiffening,” Shock and Vibration, vol. 2014, Article ID 370145, 13 pages, 2014. View at Publisher · View at Google Scholar
  15. X. C. Zhang, X. M. Zhang, and Z. Chen, “Dynamic analysis of a 3- R RR parallel mechanism with multiple clearance joints,” Mechanism & Machine Theory, vol. 78, no. 78, pp. 105–115, 2014. View at Publisher · View at Google Scholar
  16. A. Fattah, J. Angeles, and A. K. Misra, “Dynamics of a 3-DOF spatial parallel manipulator with flexible links,” in Proceedings of the 1995 IEEE International Conference on Robotics and Automation, vol. 1, pp. 627–632, May 1995. View at Publisher · View at Google Scholar · View at Scopus
  17. S. J. A. Mostafavi Yazdi and S. Irani, “Transverse vibration of double cracked beam using assumed mode method,” in Proceedings of the 4th International Conference on Recent Advances in Space Technologies 2009, RAST '09, pp. 156–160, June 2009. View at Publisher · View at Google Scholar · View at Scopus
  18. W. Chen, “Dynamic modeling of multi-link flexible robotic manipulators,” Computers & Structures, vol. 79, no. 2, pp. 183–195, 2001. View at Publisher · View at Google Scholar
  19. X. Zhang, J. K. Mills, and W. L. Cleghorn, “Dynamic modeling and experimental validation of a 3-PRR parallel manipulator with flexible intermediate links,” Journal of Intelligent and Robotic Systems, vol. 50, no. 4, pp. 323–340, 2007. View at Publisher · View at Google Scholar · View at Scopus
  20. X. Y. Wang, “Experimental modal analysis of flexible linkages in a smart parallel platform,” in Proceeding of the 7th Cansmart Meeting - International Workshop on Smart Materials and Structures, vol. 1, pp. 37–46, Montreal, Canada, 2004.
  21. B. Kang and J. K. Mills, “Dynamic modeling of structurally-flexible planar parallel manipulator,” Robotica, vol. 20, no. 3, pp. 329–339, 2002. View at Publisher · View at Google Scholar · View at Scopus
  22. X. Zhang, J. K. Mills, and W. L. Cleghorn, “Multi-mode vibration control and position error analysis of parallel manipulator with multiple flexible links,” Transactions of the Canadian Society for Mechanical Engineering, vol. 34, no. 2, pp. 197–213, 2010. View at Google Scholar · View at Scopus
  23. L. Meirovitch, Fundamentals of Vibrations, Waveland Press, 2010.
  24. H. Y. Hu, Mechanical Vibration Foundation, Beijing University of Aeronautics and Astronautics Press, Beijing, China, 2005.
  25. S. Rao Singiresu, Mechanical Vibration, Tsinghua University Press, Beijing, China, 4th edition, Compiled by X. Y. Li and M. L. Zhang, 2009.