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GHTECHN0IDGYIEITERSLVO112NO11JAN200663DYNAMICSOPTIMIZATIONOFANOVELHIGHSPEEDANDHIGHPRECISION3DOFMANIPULATORLANPENG兰朋,LUNIANLI,SUNLINING,DINGQINGYONGFHOOLOFMHATRONICSENGINEERING,HARBININSTITUTEOFTHNOLOGY,HARBIN150001,PRCHINAROBOTICSINSTITUTEHARBININSTITUTEOFTECHNOLOGY,HARBIN150001,PRCHINAAFTERINTREDUCINGANOVEL3一DOFHIGHSPEEDANDHIGHPRECISIONMANIPULATORWHICHCOMBINESDIRECTDRIVENPLANARPARALLELMECHANISMANDLINEARACTUATOR,WAYSOFINCREASINGITSSTIFFNESSARESTUDIEDTHROUGHDYNAMICSSIMULATIONINADAMSSOFTWAREENVIRONMENTDESIGNSTUDYISCARRIEDOUTBYPARAMETRICANALYSISTXLSTOANALYZETHEAPPROXIMATESENSITIVITYOFTHEDESIGNVARIABLES,INCLUDINGTHEEFFECTSOFPARAMETERSOFEACHBEANEROSSSECTIONANDRELATIVEPOSITIONOFLINEARACTUATORONMODELPERFORMANCECONCLUSIONSAREDMWNONTHEAPPROPRIATEWAYOFDYNAMICSOPTIMIZATIONTOGETALIGHTWEIGHTANDSMALLDEFORMATIONMANIPULATORAPLANARPARALLELMECHANISMWITHDIFFERENTCROSSSECTIONISUSEDTOANIMPROVEDMANIPULATORRESUHS0FDYNAMICSSIMULATIONOFTHEIMPROVEDSYSTEMANDANOTHERUNREFINEDONEARECOMPAREDTHESTIFR_HESSOFTHEMISALMOSTEQUA1BUTTHEMASSOFTHEIMPROVEDONEDECREASESGREATLY,WHICHILLUSTRATESTHEWAYSEFFICIENTKEYWORDSMANIPULATOR,ADAMS,OPTIMIZATION,DYNAMICSSIMULATION0INTRODUCTIONPARALLELKINEMATICMANIPULATORSPKMARCACLASSOFPROMISINGMACHINEFORTHEMANIPULATIONANDASSEMBLEOFELECTRONICDEVICE,BECAUSETHEYHAVESOMEADVANTAGESOVERTHESERIALMANIPULATOR,SUCHASHIGHLOADCARRYINGCAPACITY,GOODDYNAMICPERFORMANCEANDPRECISEPOSITIONINGLANOVELHYBRID3一DOFMANIPULATOR,WHICHCOMBINESTHEADVANTAGESOFPARALLELMANIPULATORANDSERIALMANIPULATORISSTUDIEDINTHISPAPORASSHOWNINFIG1THEMANIPULATORISCOMPOSEDOFPLANARPARALLELMECHANISMPPMINCLUDINGPARALLELOGRAMSTRUCTUREANDLINEARACTUATORMOUNTEDONTHEENDOFPPMTWOACDIREETDRIVENMOTORSINTEGRATEDHIGHRESOLUTIONENCODERALESELECTEDASDRIVENPARTOFPLANARPARALLELMECHANISMLINEARACTUATORISDRIVENBYVOICECOILMOTORWHICHISCONSIDEREDASIDEALDRIVENPARTFORSHORTTRAVE1ASAKINDOFNONCOMMUTATEDDIRECTDRIVE,HYSTERESISFREE,COGFREEDEVICE,VOICECOILMOTORCANPROVIDEBOTHHIGHPOSITIONSENSITIVITYANDPERFECTFORCEVERSUSSTROKECHARACTERHIGHPRECISIONLINEARENCODERISUSEDASFEEDBACKPARTSTOGUARANTEETHEREPEATABILITYINVERTICALDIRECTIONCOMPAREDWITHHIGHERDEGREEOFFREEDOMPARALLELMANIPULATOR,FOREXAMPLESTEWARDPLATFORMORTRICEPTROBOT,KINEMATICANDDYNAMICMODELSOFPPMARESIMPLELL3JTHATMAKESREALTIMECONTROLPOSSIBLEANDISMOREPRECISEONTHEOTHERHAND,ITHASHIGL1ERSTIESSTHANTHESERIALMANIPULATORBECAUSEOFITSCLOSELOOPFEATUREANDLOWMOMENTOFINERTIAMEANWHILETL1ESYSTEMCANOVERCOMETHEMECHANICALELASTICITYINTRODUCEDBYFLEXIBLECOUPLING,GEARTEETH,BEARING,BEARINGSUPPORT,CONNECTINGSHAFTANDOTHERPARTSINCLUDEDBYCLASSICALDRIVESYSTEMSOTHISMANIPULATORISMOREEASILYTOGETWELLDYNAMICSPERFORMANCEANDHIGHPRECISIONIPLANARPARALLEMOTORFIG13DOFHYBRIDSTRUCTUREMMFIPULATORWHENTHELENGTHOFEACHIINKOFPLANARPARALLELMECHANISMISDECIDEDBYKINEMATICSANALYSISANTLSYNTHESIS【圳THEPRIMARYTASKOFOPTIMALDESIGNSHOULDBEINCREASINGTHESTIFFNESSANDDECREASINGTHEIRLASSWITHREGARDTOMODELWITHSEVERALPARAMETERSITISIMPORTANTANDNECESSARYTOSTUDYTHEINFLUENCEOFEACHPARAMETERONSUPPORTEDBYILEH岫TECHNOLOGYRESEARCHANDDEVELOPMENTPROGRAMMEOFCHINANO2003AA404060RNWHOMCORRESPONDENCESHOULDBEADESSEDEMAII1AFTPSINACORNRECEIVEDONSEPT29L4维普资讯HTTP/WWWCQVIPCOMHIGHTECHNOLOGYITIERSLVO112NO1LJAN2006MODELPERFORMANCEINORDERTOMAKEFURTHEROPTIMIZATIONTHISPAPERWILLCARRYOUTDESIGNSTUDYBYPARARAETRICANALYSISTOOLSOFADAMS,ANDTHENPRESENTAPPROPRIATEWAYSOFOPTIMIZATIONTOGETALIGHTWEIGHTANTISMALLDEFORMATIONSYSTEM1SIMULATIONMODELADAMSAUTOMATICDYNAMICANALYSIS0FMECHANICALSYSTEMISAPERFECTSOFTWARETOOLFORDYNAMICSSIMULATIONOFMECHANICALSYSTEMHCANDEALWITHMECHANISMCONSISTINGOFBOTHRIGIDANDFLEXIBLEPARISSIMULATIONMODELOFTHEMANIPULATORCANBECREATEDINTHEADAMSENVIRON。MENTASSHOWNINFIG。2OXYZISTHEGLOBALREFERENCEFRAMEANDOXYZISLOCALREFERENCEFRAMETWOACDIRECTDRIVENMOTORS,EXPRESSEDASO1AAND02M,ANDLINEARACTUATORCHARETREATEDASRIGIDBODYTHEROTORINERTIAOFMOTORIS120KGEM2THEMASSOFLINEARACTUATORIS15KGLINKSAB,DE,03FANDUARETREATEDASFLEXIBLEBODYBEMRRSGK,GMANDKM,WHICHFORMATRIANGLE,AI1EALSOTREATEDASFLEXIBLEBODYTHELENGTHOFLINKSAREDECIDEDINADVANCEBYKINEMATICSDESIGNASABOF7CM,DEJ7CM,7CM,GM1166CM,8338CMIHEOTHERDIMENSIONSINTHEFIGUREARE0A02M7CM,CBCDHJ25CMEFEGJK3CMALTHOUGHTHEGROSSMOTIONOFPLANARPARALLELMECHANISMISINLEVE1BOTHTHEVERTICALANDLEVELSTIFFNESSHASTOBECONSIDEREDANDTHEVERTICALSTIFFNESSISUSUALLYLESSTHANTHELEVELSTIFFNESSBECAUSEOFITSCANTILEVERCHARACTERINVERTICALPLANETHECROSSSECTIONSIZEOFEACHBEAMOFPLANARPARALLELMECHANISMANDTHERELATIVEPOSITIONOFLINEARACTUATORARETWOIMPERTANTFACTORSTHATAFFECTTHESTIFFNESSOFTHESYSTEMTHEREFORE,THEFOLLOWINGSTUDYISDONEINTHESERESPECTSFIG2SIMULATIONMODEL2SIMULATIONRESULTINTHISSECTION,THEAVERAGEDISPLACEMENTOFTHEENDEFFECTORISUSEDTOCHARACTERIZETHEDYNAMICSTIFFNESS,WHICHISDIFFERENTATDIFFERENTCONFIGURATIONDURINGTHELINEARACTUATORMOVINGFORWARDFROMINITIALPOSITIONTOTHEDESTINATIONTHEAVERAGEVERTICALDISPLACEMENTOFTHEENDE仟ECTORISTAKENASTHEOBJECTIVETOSTUDYVERTICALSTIIFNESSTHEAVERAGEDIFFERENCEOFCO0RDINATEANDY,EOORDINATEOFPOINTBETWEENTHISMODELANDARIGIDMODELISTAKENASTHEOBJECTIVETOSTUDYLEVELSTIFFNESS21EFFECTOFCROSSSECTIONTORSIONDEFORMATIONSOFLINKSWILLCAUSEVERTICALDISPLACEMENTOFTHEENDEF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