Modeling and Analysis of Dynamics of Rigid–Flexible Coupled Parallel Robots
Source abstract
Abstract
Rigid–flexible coupled robots have problems such as vibration and elastic deformation caused by the flexibility of the members during the motion process, which significantly impacts the system’s motion accuracy and dynamics performance. To address the above problems, a dynamic modeling method based on a vector bond graph is proposed, and a multi-energy domain global dynamic model of Delta-type rigid–flexible coupled parallel robot considering rod flexibility is established. The coupled vibration of the control part and mechanical part of the system is analyzed, and model simulation is verified by 20-sim 4.4 software and ADAMS software (instructional version), which verifies the validity and reasonableness of the modeling method and provides a reference for the modeling of other rigid–flexible coupled systems with parallel systems in space.
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Research context
OpenAlex topics: Dynamics and Control of Mechanical Systems · Robotic Mechanisms and Dynamics · Control and Dynamics of Mobile Robots
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
College of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China
Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, Handan 056000, China
Funding
Natural Science Foundation of Hebei Province of China · Science and technology research project of colleges and universities in Hebei Province of China
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Show source-provided references
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