期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：4
页码：140
DOI：10.5772/52148
语种：English
出版社：SAGE Publications
摘要：In order to study the elastodynamic behaviour of 4- universal joints- prismatic pairs- spherical joints / universal joints- prismatic pairs- universal joints 4-UPS-UPU high-speed spatial PCMMs(parallel coordinate measuring machines), the nonlinear time-varying dynamics model, which comprehensively considers geometric nonlinearity and the rigid-flexible coupling effect, is derived by using Lagrange equations and finite element methods. Based on the Newmark method, the kinematics output response of 4-UPS-UPU PCMMs is illustrated through numerical simulation. The results of the simulation show that the flexibility of the links is demonstrated to have a significant impact on the system dynamics response. This research can provide the important theoretical base of the optimization design and vibration control for 4-UPS-UPU PCMMs.
关键词：Parallel coordinate measuring machine; nonlinearity; dynamics model; flexible link
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