Kinematic Chain Equivalent Method for Tube Model and Elastodynamic Optimization for Parallel Mechanism Based on Matrix Structural Analysis
Source abstract
Abstract
The platforms of parallel mechanisms usually suffer vibration loads. In these cases, structure elastodynamic analysis and elastodynamic optimization of parallel mechanisms are important. A tube structure is very common for parallel mechanisms. This work establishes the model of a tube structure based on matrix structural analysis. The kinematic pair equivalent method is used to simulate the surface contact between the inner and outer tubes. The corresponding mass and stiffness matrices are derived through the strain energy minimization method. The reconfigurable legged lunar lander has been used as an example to verify the effectiveness of this method. By adding the mechanism configuration to the optimization process, the equivalent static load method and the desirability approach are combined and modified. A procedure for the multi-objective elastodynamic optimization of parallel mechanisms is proposed. The optimization procedure is implemented on the lander and the results show a reduction in mass and an increase in natural frequency.
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Research context
OpenAlex topics: Robotic Mechanisms and Dynamics · Mechanical Engineering and Vibrations Research · Dynamics and Control of Mechanical Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
State Key Laboratory of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
Funding
National Natural Science Foundation of China · State Key Lab of Mechanical System and Vibration Project
References (36)
Show source-provided references
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