On issues of elastic–rigid coupling in finite element modeling of high-speed machines

Yang, Zhijia; Sadler, J. P.

doi:10.1016/s0094-114x(98)00083-4

Cited by 20 publications

(16 citation statements)

References 13 publications

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“…The element nodal displacements, or generalized coordinates, are assembled in a matrix form as u: u~u 1 ,u 2 ,u 3 ,u 4 ,u 5 ,u 6 ,u 7 ,u 8 f g T , ð1Þ…”

Section: Beam Element Model For Flexible Linksunclassified

“…The experience and method gained from the modeling of planar flexible parallel robots may bring enlightenment for the modeling of spatial flexible parallel robots. This paper presents the concepts of kinematic constraint conditions and dynamic constraint conditions for the elastic displacements using the KED method [6][7][8] and considering the elastic displacements of sub-chains. The dynamic model of planar flexible parallel robots is derived, and the KED analysis for a planar 3-RRR parallel robot is performed.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic modeling of flexible-links planar parallel robots

Zhang

2008

Front. Mech. Eng. China

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This paper presents a finite element-based method for dynamic modeling of parallel robots with flexible links and rigid moving platform. The elastic displacements of flexible links are investigated while considering the coupling effects between links due to the structural flexibility. The kinematic constraint conditions and dynamic constraint conditions for elastic displacements are presented. Considering the effects of distributed mass, lumped mass, shearing deformation, bending deformation, tensile deformation and lateral displacements, the Kineto-Elasto dynamics (KED) theory and Lagrange formula are used to derive the dynamic equations of planar flexible-links parallel robots. The dynamic behavior of the flexible-links planar parallel robot is well illustrated through numerical simulation of a planar 3-RRR parallel robot. Compared with the results of finite element software SAMCEF, the numerical simulation results show good coherence of the proposed method. The flexibility of links is demonstrated to have a significant impact on the position error and orientation error of the flexiblelinks planar parallel robot.

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“…The element nodal displacements, or generalized coordinates, are assembled in a matrix form as u: u~u 1 ,u 2 ,u 3 ,u 4 ,u 5 ,u 6 ,u 7 ,u 8 f g T , ð1Þ…”

Section: Beam Element Model For Flexible Linksunclassified

Section: Introductionmentioning

confidence: 99%

Dynamic modeling of flexible-links planar parallel robots

Zhang

2008

Front. Mech. Eng. China

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“…This is why it is necessary to approximate these continuous systems. Basically, a system can be approximated using either a set of modal [4,13,14], or nodal [15][16][17][18][19][20][21] coordinates, which respectively correspond to the assumed modes method, and the finite element method.…”

Section: Literature Reviewmentioning

confidence: 99%

Dynamic finite-element analysis of a planar high-speed, high-precision parallel manipulator with flexible links

Piras

Cleghorn

Mills

2005

Mechanism and Machine Theory

187

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“…[8][9][10][11] analyzed the high speed rotating machinery deformation of single spindle with dynamic FEA on a rigid-flexible model. With the vibrant analysis of the manipulator with flexible links [12], it can be validated that the high speed motion and the configuration have a great effect on the elastic vibration.…”

Section: Introductionmentioning

confidence: 99%

Dynamic deformation analysis of a spot welding robot under high speed and heavy load working condition

Song

Wang

Gao

et al. 2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-As an important type of industrial manipulator, spot welding robots are usually needed to work under high speed and heavy load working condition. The working condition can cause a dynamic deformation of the robot, which cannot be fast and accurately calculated currently. The dynamic deformation leads to poor performance of the robot, e.g. the end effector trajectory deflection and vibration. In this paper, we present a method for the robot dynamic deformation calculation, which can be practically applied to spot welding robots. The method is mainly implemented in three steps: 1.Based on the robot working condition, we first calculate the kinestate of each link in base frame, i.e. angular velocity and acceleration, linear velocity and acceleration. And we thus can obtain the inertia forces and torques of each link. 2. We build a finite element analysis (FEA) modeling by confirming the robot configuration, defining material property, setting constraints and meshing. 3. Orderly, we apply each inertia fore, inertia torque, robot gravity and load on the FEA modeling and calculate the responding dynamic deformation. The total deformation can be obtained by sum of all deformations, and we can also get the stress and strain condition in the same way. The proposed method provides a basis for robot dynamic deformation calculation and its effectiveness has been demonstrated by experiments.

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On issues of elastic–rigid coupling in finite element modeling of high-speed machines

Cited by 20 publications

References 13 publications

Dynamic modeling of flexible-links planar parallel robots

Dynamic modeling of flexible-links planar parallel robots

Dynamic finite-element analysis of a planar high-speed, high-precision parallel manipulator with flexible links

Dynamic deformation analysis of a spot welding robot under high speed and heavy load working condition

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