The Dynamic Analysis on BKX—I PKM

doi:10.13190/jbupt.200805.40.331

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2008, Vol. 31 ›› Issue (5): 40-43.doi: 10.13190/jbupt.200805.40.331

• Papers • Previous Articles Next Articles

The Dynamic Analysis on BKX—I PKM

LI Jin-quan1, FU Tie2, LUAN Zhen-xing1

1.School of Automation,Beijing University of Posts and Telecommunications, Beijing 100876, China
2. School of Mechanical and Vehicular Engineering. Beijing Institute of Technology, Beijing 100081, China）

Received:2008-03-13 Revised:1900-01-01 Online:2008-10-30 Published:2008-10-30
Contact: LI Jin-quan

Abstract

Abstract:

A finite element full-scale entity model for 6-UPS parallel kinematic machine (PKM) and its accessories are established based on substructure method .It is further confirmed through a modality study and a finite element modality analysis. The displacement harmonic response curves of the nodes on the virtual x, y and z axes of PKM are obtained through a harmonic response analysis on PKM performed with a finite element method. Based on these resultant curves, a law of harmony response on the PKM is investigated. The resultant parameters clearly demonstrate a harmony response characteristic of PKM and its response scope magnitude, which can provide an important theoretical basis for the optimal structure design of PKM.

Key words: parallel kinematic machine, harmonic response, stewart platform, dynamics

CLC Number:

TH12
TG43

LI Jin-quan1, FU Tie2, LUAN Zhen-xing1. The Dynamic Analysis on BKX—I PKM[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2008, 31(5): 40-43.

References

[1] 李金泉, 丁洪生, 付铁, 等. 并联机床的历史、现状及展望[J]. 机床与液压, 2003(3): 3-8. Li Jinquan, Ding Hongsheng, Fu Tie, et al. The parallel maching tool's history、status and prospect[J]. Machine Tool and Hydraulic Pressure, 2003(3): 3-8.
[2] 杜兆材, 余跃庆, 苏丽颖. 动平台惯性参数对柔性并联机构动力学特性的影响及优化设计[J]. 光学精密工程, 2006, 14(6): 1009-1016. Du Zhaocai, Yu Yueqing, Su Liying. Effects of inertia parameters of moving platform on dynamic characteristic of flexible parallel mechanism and optimal design[J]. Optic and Precision Engineer, 2006, 14(6): 1009-1016.
[3] 郭磊, 廖启征, 魏世民. 自行车机器人动力学建模与MIMO反馈线性化[J]. 北京邮电大学学报, 2007, 30(1): 84-85. Guo Lei, Liao Qizheng, Wei Shimin. Dynamic modeling of bicycle robot and nonlinear control based on feedback linearization of MIMO Systems[J]. Journal of Beijing University of Posts and Telecommunications, 2007, 30(1): 84-85.
[4] 刘善增, 余跃庆, 杜兆材, 等. 并联机器人的研究进展与现状[J]. 组合机床及自动化加工技术, 2007(7): 4-10. Liu Shanzeng, Yu Yueqing, Du Zhaocai, et al. Recent development and current status of parallel manipulators[J]. Modular Machine Tool and Automatic Manufacturing Technique, 2007(7): 4-10.
[5] Ju F, Choo Y S, Cui F S. Dynamic response of tower crane induced by the pendulum motion of the payload[J]. Int J Solids Structures, 2006, 43(2): 376-389.
[6] 李金泉, 丁洪生, 付铁, 等. BKX-Ⅰ型并联机床的实验模态分析. 制造技术与机床, 2004(10): 45-48. Li Jinquan, Ding Hongsheng, Fu Tie, et al. The experimental modal analysis of the BKX-Ⅰ model PKM[J]. Manufacturing Technology and Machine Tool, 2004(10): 45-48.

[1]	TIAN Zhiyu, LIU Xiaoping, WANG Gang, ZHAO Yunlong, LI Xinghua. Trajectory Tracking for Wheeled Mobile Robots Considering the Castor Wheel's Torsion Angle Disturbance [J]. Journal of Beijing University of Posts and Telecommunications, 2022, 45(1): 94-101.
[2]	ZHANG Feng, GAO Feng, WU Bin, WANG Bai. Network Opinion Evolution with Considering the Herding Effect Influence [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2014, 37(s1): 12-17.
[3]	. Spectrum Bidding and Pricing in Cognitive Radio Networks [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2010, 33(5): 136-140.
[4]	CHU Ming, JIA Qing-xuan, SUN Han-xu, ZHANG Xiao-dong, YAO Fu-sheng. Coupling of the Dynamics and Control of the Space Flexible Manipulative Arm [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2008, 31(3): 98-102.
[5]	JING Da-hai1 ， LIU Xiao-ping2 . On-line Fuzzy Identifying Physical Parameters of Joint Moving State Robots [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2008, 31(1): 52-56.
[6]	GAN Dong-ming, LIAO Qi-zheng , WEI Shi-min . Forward Kinematics Analysis of the New 2CCC-4SPS Parallel Mechanism [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2007, 30(6): 32-35.
[7]	SHAN Xiu-ming, WANG Lei, REN Yong, YUAN Jian, SONG Yong-hua. A Survey on the Internet Complexity [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2006, 29(1): 1-8.

The Dynamic Analysis on BKX—I PKM

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 7

Recommended Articles

Metrics

Comments