Modeling of parallel manipulators with flexible links and joints driven by electric actuators

Author affiliations

Authors

  • Nguyen Quang Hoang Department of Mechatronics/Applied Mechanics, School of Mechanical Engineering, Hanoi University of Scienece and Tecnology, Hanoi, Vietnam https://orcid.org/0000-0003-2525-2856
  • Benjamin Boudon Université Clermont Auvergne, CNRS, SIGMA Clermont, Institut Pascal, F-63000 Clermont-Ferrand, France https://orcid.org/0000-0002-8680-889X
  • Hyun-Jun BAE Université Clermont Auvergne, CNRS, SIGMA Clermont, Institut Pascal, F-63000 Clermont-Ferrand, France https://orcid.org/0000-0002-8799-820X
  • Thu Thuy DANG Université Clermont Auvergne, CNRS, SIGMA Clermont, Institut Pascal, F-63000 Clermont-Ferrand, France https://orcid.org/0000-0001-7007-5639
  • Chedli Bouzgarrou Université Clermont Auvergne, CNRS, SIGMA Clermont, Institut Pascal, F-63000 Clermont-Ferrand, France https://orcid.org/0000-0003-2394-1770

DOI:

https://doi.org/10.15625/0866-7136/17944

Keywords:

parallel robot manipulator, elastic links, elastic joints, modeling, numerical simulation

Abstract

This paper presents the approach of building a mathematical model for a parallel robotic manipulator with flexible links and elastic joints. The links to the base are assumed to be rigid bodies, and the thin connecting rods are assumed to be flexible links. The elasticity of the transmission from the actuators to the transmission is modeled by a torsional spring and viscous damper. This is a mixed system of rigid bodies, spring, and flexible links. The deformation motion of the elastic link is approximated by shape functions similar to the finite element method. The differential equations of motion are established by combining the substructure method and the Lagrange equation of the 2nd kind for the serial multibody system. Based on the differential equation established for the parallel robot manipulator of five bars, numerical simulations were carried out to investigate the response of the system.

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Published

30-12-2022

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Vol. 44 No. 4 (2022)

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Research Article

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