Research Article
Dynamics Behavior Analysis of Parallel Mechanism with Joint Clearance and Flexible Links
Table 2
The parameters of 4-UPS-RPS parallel mechanism.
| Parameter | Value |
| Socket radius | 0.0152 m | Clearance value | 0.0002 m | The length of swing rod | 0.760 m | The length of telescopic rod | 0.840116 m | The cross section radius of telescopic rod | 0.04 m | Integral tolerance | 0.000001 s | Integral step | 0.001 s | The principal moment of inertia of the telescopic rod | kg⋅m4 | kg⋅m4 | kg⋅m4 | Ball radius | 0.015 m | Recovery coefficient | 0.9 | Friction coefficient | 0.05 | Young’ modulus , , | 200 Gpa | Shear elastic modulus | 80 Gpa | Poisson’s ratio , | 0.29 | The mass of moving platform | 36.28 kg | The moment of inertia of the moving platform | kg⋅m2 | kg⋅m2 | kg⋅m2 |
|
|