COOPERATIVE MODELING AND DYNAMICS SIMULATION OF FLEXIBLE MULTI-BODY SYSTEM FOR PARALLEL ROBOT

Yongxian Liu, Chunxia Zhu, Jinfu Zhao

Abstract

Based on the cooperative thought, a method of modeling and simulation of multi-flexible-body dynamics for a kind of mechanism is proposed in this paper. A multi-flexible-body dynamics simulation model of 3-TPT parallel robot is created, and its multi-body dynamics simulation is implemented by using the multi-body dynamics simulation software ADAMS and finite element analysis software ANSYS. For more accurate explanation of the analysis, simulation results of rigid body are compared with those of flexible body. The simulation results have shown that forces applied on flexible bodies are highly nonlinear because of the flexible characteristics, which is consistent with the reality. Compared with other simulation method, the simulation proposed of the multi-flexible body system are more authentic, nicety and can reflect actual dynamics characteristic of parallel robot with more accuracy. Therefore this is an effective method of analysis for design and optimization of parallel robot.

References

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  8. Gamarra-Rosado, V, O., Yuhara, E, A, O., 1999. Dynamic modeling and simulation of a flexible robotic manipulator. Jounal of Robotics, 17(5): 523-528.
  9. Chen, W., 2001. Dynamic modeling of multi-link flexible robotic manipulators. Jounal of Computers and Structures, 79(2): 183-195.
  10. Zhong, Xin., Yang, Ru-qing., Xu, Zheng-fei., et al. 2002. Dynamic Modeling of Multi-Flexible System-Theory and Application. Jounal of Mechanical Science and Technology, 21(5): 387-389.
  11. Wang, Yuan-feng., Shui, Xiao-ping., 2006. Analysis of ADAMS flexible body and application of solar array deployment. Jounal of Machinery Design & Manufacture, (9): 146-148.
  12. Wang, Dan., Guo, Hui., Sun, Zhi-li., 2005. Normal and Inverse Pose Solutions to 3-RPS Parallel Robot Based on ADAMS. Journal of Northeastern University, 26(12): 1185-1187.
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Paper Citation


in Harvard Style

Liu Y., Zhu C. and Zhao J. (2011). COOPERATIVE MODELING AND DYNAMICS SIMULATION OF FLEXIBLE MULTI-BODY SYSTEM FOR PARALLEL ROBOT . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 321-324. DOI: 10.5220/0003566303210324


in Bibtex Style

@conference{icinco11,
author={Yongxian Liu and Chunxia Zhu and Jinfu Zhao},
title={COOPERATIVE MODELING AND DYNAMICS SIMULATION OF FLEXIBLE MULTI-BODY SYSTEM FOR PARALLEL ROBOT},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={321-324},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003566303210324},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - COOPERATIVE MODELING AND DYNAMICS SIMULATION OF FLEXIBLE MULTI-BODY SYSTEM FOR PARALLEL ROBOT
SN - 978-989-8425-75-1
AU - Liu Y.
AU - Zhu C.
AU - Zhao J.
PY - 2011
SP - 321
EP - 324
DO - 10.5220/0003566303210324