This preprint is under consideration at Chinese Journal of Mechanical Engineering. A preprint is a preliminary version of a manuscript that has not completed peer review at a journal. Research Square does not conduct peer review prior to posting preprints. The posting of a preprint on this server should not be interpreted as an endorsement of its validity or suitability for dissemination as established information or for guiding clinical practice.
Learn more about In Review
A new preprint design is coming!
We have improved readability, clarity, accessibility, and opportunities for engagement.
Original Article
Bo Chen
Zhejiang University of Technology
Corresponding Author
License:
This work is licensed under a CC BY 4.0 License. Read Full License
In order to improve the low output accuracy caused by the elastic deformations of the branch chains, a finite element-based dynamic accuracy analysis method for parallel mechanisms is proposed in this paper. First, taking a 5–prismatic–spherical–spherical (PSS)/universal–prismatic–universal (UPU) parallel mechanism as an example, the error model is established by a closed vector chain method while its influence on the dynamic accuracy of the parallel mechanism is analyzed through numerical calculation and simulation. According to the structural and error characteristics of the parallel mechanism, a vector calibration algorithm is proposed to reduce the position and pose errors along the whole motion trajectory. Then, considering the elastic deformation of the rod, the rigid-flexible coupling dynamic equations of the mechanism are established by combining the finite element method with the Lagrange method, and the equations are vectorially superimposed by means of internal force cancellation to synthesize the elastic dynamics equation of the connecting rod. Based on the constraint condition of each moving part, the elastodynamic model of the whole machine is obtained. Furthermore, the effect of component flexibility on the dimensionless root mean square error of the displacement, velocity and acceleration of the moving platform is investigated by using a Newmark method, and the dynamic accuracy influenced by these dimensionless root mean square errors is further studied. The research work establishes an important theoretical foundation for the development of the prototype.
Keywords
parallel mechanism, geometric error, calibration algorithm, elastodynamic model, dynamic accuracy
Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Figure 8
Figure 9
Figure 10
Figure 11
Figure 12
Figure 13
Figure 14
Figure 15
The full text of this article is available to read as a PDF.
Loading...
Badges
Prescreen
This manuscript passed our Prescreen assessment
Complete author information
Appropriate declaration statements
Potential risks to human health
Prescreen
Peer Review Timeline
CURRENT STATUS: Under Review
Version 1
Posted 22 Dec, 2020
No community comments so far
Review #2 received
Received 04 Sep, 2021
Reviews received
Received 01 Sep, 2021
Reviewer #2 agreed
On 31 Aug, 2021
Review #1 received
Received 28 Jan, 2021
Reviewers invited
Invitations sent on 05 Jan, 2021
Reviewer #1 agreed
On 05 Jan, 2021
Editor assigned
On 15 Dec, 2020
Submission checks complete
On 15 Dec, 2020
Editor invited
On 15 Dec, 2020
First submitted
On 14 Dec, 2020
Metrics
Comments: 0
PDF Downloads: ...
HTML Views: ...
Subject Areas
Mechanical Engineering
Learn more about our company.
A new preprint design is coming!
We have improved readability, clarity, accessibility, and opportunities for engagement.
This preprint is under consideration at Chinese Journal of Mechanical Engineering. A preprint is a preliminary version of a manuscript that has not completed peer review at a journal. Research Square does not conduct peer review prior to posting preprints. The posting of a preprint on this server should not be interpreted as an endorsement of its validity or suitability for dissemination as established information or for guiding clinical practice.
Learn more about In Review
Original Article
Bo Chen
Zhejiang University of Technology
Corresponding Author
Badges
Prescreen
This manuscript passed our Prescreen assessment
Complete author information
Appropriate declaration statements
Potential risks to human health
Prescreen
Peer Review Timeline
CURRENT STATUS: Under Review
Version 1
Posted 22 Dec, 2020
No community comments so far
Review #2 received
Received 04 Sep, 2021
Reviews received
Received 01 Sep, 2021
Reviewer #2 agreed
On 31 Aug, 2021
Review #1 received
Received 28 Jan, 2021
Reviewers invited
Invitations sent on 05 Jan, 2021
Reviewer #1 agreed
On 05 Jan, 2021
Editor assigned
On 15 Dec, 2020
Submission checks complete
On 15 Dec, 2020
Editor invited
On 15 Dec, 2020
First submitted
On 14 Dec, 2020
Metrics
Comments: 0
PDF Downloads: ...
HTML Views: ...
Subject Areas
Mechanical Engineering
License:
This work is licensed under a CC BY 4.0 License. Read Full License
In order to improve the low output accuracy caused by the elastic deformations of the branch chains, a finite element-based dynamic accuracy analysis method for parallel mechanisms is proposed in this paper. First, taking a 5–prismatic–spherical–spherical (PSS)/universal–prismatic–universal (UPU) parallel mechanism as an example, the error model is established by a closed vector chain method while its influence on the dynamic accuracy of the parallel mechanism is analyzed through numerical calculation and simulation. According to the structural and error characteristics of the parallel mechanism, a vector calibration algorithm is proposed to reduce the position and pose errors along the whole motion trajectory. Then, considering the elastic deformation of the rod, the rigid-flexible coupling dynamic equations of the mechanism are established by combining the finite element method with the Lagrange method, and the equations are vectorially superimposed by means of internal force cancellation to synthesize the elastic dynamics equation of the connecting rod. Based on the constraint condition of each moving part, the elastodynamic model of the whole machine is obtained. Furthermore, the effect of component flexibility on the dimensionless root mean square error of the displacement, velocity and acceleration of the moving platform is investigated by using a Newmark method, and the dynamic accuracy influenced by these dimensionless root mean square errors is further studied. The research work establishes an important theoretical foundation for the development of the prototype.
Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Figure 8
Figure 9
Figure 10
Figure 11
Figure 12
Figure 13
Figure 14
Figure 15
The full text of this article is available to read as a PDF.
Loading...