Journal of Jilin University(Engineering and Technology Edition) ›› 2018, Vol. 48 ›› Issue (6): 1777-1786.doi: 10.13229/j.cnki.jdxbgxb20170879

Previous Articles     Next Articles

Stiffness and dynamics analysis of a new type of tensegrity parallel mechanism

ZHU Wei(),WANG Chuan-wei,GU Kai-rong,SHEN Hui-ping,XU Ke,WANG Yuan   

  1. School of Mechanical Engineering,Changzhou University,Changzhou 213016,China
  • Received:2017-08-25 Online:2018-11-20 Published:2018-12-11

RICH HTML

 9   

PDF (PC)

238

Abstract:

The tensegrity mechanism is a new type of rigid-flexible spatial model, with advantages of light weight, easy-folded, extended flexibility and high precision. In order to improve the compliance of precise manipulators during normal operation, a model for tensegrity parallel mechanism in six DOF was proposed, which was built in quadrilateral prism type. The proposed model was mainly composed of four rigid drive branched chains, two rope drive links and two branched springs. The kinematics equation of the mechanism was established by closed vector method, and the relation between the angular velocity, the angular acceleration and the Euler angle during platform moving was deduced. According to the screw theory, the static equilibrium equation and the stiffness matrix of the mechanism were derived to solve out the numerical values. After that, the pseudo-rigid-body dynamics pattern of the mechanism was set up by the principle of virtual work. Finally, the velocity, acceleration and dynamic equations of the mechanism were numerically calculated. Based on the calculated values, simulations were conducted in MATLAB to verify the above mathematical solutions. This research provides theoretical references for the further studies on dynamics characteristics and control strategies of this mechanism.

Key words: mechanical design and theory, tensegrity, parallel mechanism, static analysis, stiffness matrix, dynamics

CLC Number: 

  • TH112

Fig.1

CAD model"

Fig.2

Schematic diagram of mechanism"

Fig.3

Schematic diagram of branch"

Table 1

Parameters of the mechanism"

参数 数值 参数 数值
p/m 0.5 ls2/m 0.6
b/m 0.75 l1/m 0.3
m/kg 2 l2/m 0.3
m1/kg 0.4 k1/(N·m-1) 300
m2/kg 0.5 k2/(N·m-1) 200
ls1/m 0.3

Fig.4

Changes of angular velocity"

Fig.5

Changes of angular acceleration"

Fig.6

The acceleration of branch"

Fig.7

Length change of driving branch"

Fig.8

Changes of driving force"

[1] Snelson K D . Continuous tension, discontinuous compression structures[P]. US 3169611, 1965.
[2] Fuller R B . Tensile-integrity structures[P]. US 3063521, 1962.
[3] 李团结, 车明奎 . 张拉整体结构外力与形变间关系分析及实验验证[J]. 西安电子科技大学学报, 2017,44(1):24-28.
Li Tuan-jie, Che Ming-kui . Analysis and experimental verification of relationship between external force and deformation of tensegrity structures[J]. Jouranal of Xidian University, 2017,44(1):24-28.
[4] 罗阿妮, 王龙昆, 刘贺平 . 张拉整体三棱柱构型和结构稳定性分析[J]. 哈尔滨工业大学学报, 2016,48(7):82-87.
doi: 10.11918/j.issn.0367-6234.2016.07.013
Luo A-ni, Wang Long-kun, Liu He-ping . Analysis of configuration and structural stability of 3-bar tensegrity prism[J]. Journal of Harbin Institute of Technolocy, 2016,48(7):82-87.
doi: 10.11918/j.issn.0367-6234.2016.07.013
[5] Oppenheim I, Williams W . Tensegrity prisms as adaptive structures[J]. ASME Int'l Mechanical Engineering Congress, 1997,54(8):113-120.
[6] Arsenault M . Determination of the analytical workspace boundaries of a novel 2-DoF planar tensegrity mechanism[J]. Transactions of the Canadian Society for Mechanical Engineering, 2010,34(1):75-91.
doi: 10.1139/tcsme-2010-0005
[7] Arsenault M, Gosselin C M . Kinematic, static and dynamic analysis of a planar 2-DoF tensegrity mechanism[J]. Mechanism & Machine Theory, 2005,41(9):1072-1089.
[8] Marshall M Q . Analysis of tensegrity-based parallelplatform devices[D]. Gainesville: Department of Mechanical and Aerospace Engineering, University of Florida, 2003.
[9] Arsenault M, Gosselin C M . Kinematic and static Analysis of 3-PUPS spatial tensegrity mechanism[J]. Mechanism & Machine Theory, 2009,44(1):162-179.
doi: 10.1016/j.mechmachtheory.2008.02.005
[10] Shekarforoush S M M, Eghtesad M, Farid M. Design of statically balanced six-degree-of-freedom parallel mechanisms based on tensegrity system [C]//ASME 2009 International Mechanical Engineering Congress and Exposition, Lake Buena Vista, Florida,USA, 2009: 245-253.
[11] Abadi B N R, Farid M, Mahzoon M . Introducing and analyzing a novel three-degree-of-freedom spatial tensegrity mechanism[J]. Journal of Computational & Nonlinear Dynamics, 2014,9(2):94-94.
[12] Moon Y , Crane Ⅲ C D,Roberts R G. Reserve kinetostatic analysis and stiffness of a spatial tensegrity-based compliant mechanism[J]. Mechanism and Machine Theory, 2013,70(6):320-337.
doi: 10.1016/j.mechmachtheory.2013.05.001
[13] 纪志飞 . 3-SPS张拉整体并联机构的构型综合与运动性能分析及能量采集研究[D]. 西安:西安电子科技大学机电工程学院, 2014.
Ji Zhi-fei . On type synthesis, kinematic performances and energy harvesting of 3-SPS tensegrity parallel mechanisms[D]. Xi'an:School of Mechano-electronic Engineering,Xidian University, 2014.
[14] Chen S, Arsenault M. Workspace computation and analysis of a planar 2-DoF translational tensegrity mechanism [C]//ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, Quebec, Canada, 2010: 223-232.
[15] Arsenault M, Gosselin C M . Kinematic and static analysis of a three-degree-of-freedom spatial modular tensegrity mechanism.[J]. International Journal of Robotics Research, 2008,27(8):951-966.
doi: 10.1177/0278364908091152
[16] Ji Zhe-fei, Li Tuan-jie, Lin Min . Kinematics, singularity, and workspaces of a planar 4-Bar tensegrity mechanism[J]. Journal of Robotics, 2014,2014(11):1-10.
[17] Ji Zhe-fei, Li Tuan-jie, Lin Min . Kinematic and static analysis of a planar compliant tensegrity-like parallel mechanism[J]. Australian Journal of Mechanical Engineering, 2014,12(1):49-59.
doi: 10.7158/M12-077.2014.12.1
[18] Ji Zhe-fei, Li Tuan-jie, Lin Min . Kinematics, workspaces and stiffness of a planar class-2 tensegrity mechanism[J]. UPB Sci Bull, 2014,76(3):53-64.
[19] 王征 . 张拉整体结构的找形和稳定性分析[D]. 西安:西安电子科技大学机电工程学院, 2012.
Wang Zheng . Analysis of form-finding and stability of tensegrity structures[D]. Xi'an:School of Mechano-electronic Engineering, Xidian University, 2012.
[20] Wittenburg J . Dynamics of Multibody Systems[M]. New York: Springer, 2008: 80-96.
[21] Ball R S. A Treatise on the Theory of Screws[M]. New York: Cambridge University Press, 1900: 120-160.
[1] JIA Tuo,ZHAO Ding-xuan,CUI Yu-xin. Method of rollover pre-warning for articulated loader [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1762-1769.
[2] LIU Zhao-hui, WANG Chao, LYU Wen-hong, GUAN Xin. Identification of data characteristics of vehicle running status parameters by nonlinear dynamic analysis [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1405-1410.
[3] HU Man-jiang, LUO Yu-gong, CHEN Long, LI Ke-qiang. Vehicle mass estimation based on longitudinal frequency response characteristics [J]. 吉林大学学报(工学版), 2018, 48(4): 977-983.
[4] ZHANG Lin, ZHANG Xin-jie, GUO Kong-hui, WANG Chao, LIU Yang, LIU Tao. Rolling window optimization for intelligent vehicle trajectory planning in unknown environment [J]. 吉林大学学报(工学版), 2018, 48(3): 652-660.
[5] SUN Zheng, HUANG Yu-qi, YU Xiao-li. Numerical simulation of flow and heat transfer in journal bearing lubrication [J]. 吉林大学学报(工学版), 2018, 48(3): 744-751.
[6] SU Shu-jie, HE Lu. Transient dynamic congestion evacuation model of pedestrian at walk traffic planning crossroads [J]. 吉林大学学报(工学版), 2018, 48(2): 440-447.
[7] WANG Jing-yu, YU Xu-tao, HU Xing-jun, GUO Peng, XIN Li, GUO Feng, ZHANG Yang-hui. Fluid-induced vibration and flow mechanism of automotive external rearview mirror [J]. 吉林大学学报(工学版), 2017, 47(6): 1669-1676.
[8] ZHANG Zhe, JIA Li-min, QIN Yong, YUN Ting. Equalization-based feedback control model of pedestrian counter flow [J]. 吉林大学学报(工学版), 2017, 47(6): 1728-1737.
[9] LI Jing, ZHANG Jia-xu, ZHANG Yan-hua, CHEN Li-jun. Estimation of vehicle state and parameter based on strong tracking CDKF [J]. 吉林大学学报(工学版), 2017, 47(5): 1329-1335.
[10] XU Jin-kai, WANG Yu-tian, ZHANG Shi-zhong. Dynamic characteristics of a heavy duty parallel mechanism with actuation redundancy [J]. 吉林大学学报(工学版), 2017, 47(4): 1138-1143.
[11] WANG Qian, ZHAO Ding-xuan, ZHAO Ying, CHEN Na. Dynamic analysis of carrier helicopter on complex deck [J]. 吉林大学学报(工学版), 2017, 47(4): 1109-1113.
[12] WAN Ying, ZHAO Wei-qiang, FENG Ran, LING Jin-peng, ZONG Chang-fu, ZHENG Hong-yu. Dynamic modeling and vehicle-liquid coupling characteristic analysis for tank trucks [J]. 吉林大学学报(工学版), 2017, 47(2): 353-364.
[13] ZHANG Yi-hua, XU Hong-guo, LIU Hong-fei, WANG Fa-ji. Energy analysis of lateral instability in vehicle combinations at high-speed step response [J]. 吉林大学学报(工学版), 2017, 47(1): 71-75.
[14] LI Ling, SHI Shu-ming, WANG Xian-bin, YU Zhuang. Stability of high-speed and turning vehicle influenced by engine braking [J]. 吉林大学学报(工学版), 2017, 47(1): 64-70.
[15] JIN Jing-fu, HAN Li-man, CAO Min, LI Yang, QI Ying-chun, CONG Qian. Volume expansion rule of water droplets during freezing process [J]. 吉林大学学报(工学版), 2016, 46(5): 1546-1551.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] Liu Qing-min，Wang Long-shan，Chen Xiang-wei，Li Guo-fa. Ball nut detection by machine vision[J]. 吉林大学学报(工学版), 2006, 36(04): 534 -538 .
[2] Li Hong-ying; Shi Wei-guang;Gan Shu-cai. Electromagnetic properties and microwave absorbing property
of Z type hexaferrite Ba3-xLaxCo2Fe24O41[J]. 吉林大学学报(工学版), 2006, 36(06): 856 -0860 .
[3] Li Yue-ying，Liu Yong-bing，Chen Hua . Surface hardening and tribological properties of a cam materials[J]. 吉林大学学报(工学版), 2007, 37(05): 1064 -1068 .
[4] Zhang He-sheng, Zhang Yi, Wen Hui-min, Hu Dong-cheng . Estimation approaches of average link travel time using GPS data[J]. 吉林大学学报(工学版), 2007, 37(03): 533 -0537 .
[5] Experiment and numerical simulation on drag reduction for bodies ofrevolution using bionic scrobiculate ringed surface . Experiment and numerical simulation on drag reduction for bodies of
revolution using bionic scrobiculate ringed surface[J]. 吉林大学学报(工学版), 2007, 37(01): 100 -105 .
[6] Bao Tie，Liu Shu-fen . Network fault management formal description based on Communication Sequential Processes （CSP）[J]. 吉林大学学报(工学版), 2007, 37(01): 117 -120 .
[7] Shen Chuan-liang，Liu Guo-jun，Dong Jing-shi，Yang Zhi-gang，Cheng Guang-ming . Piezoelectric multi-vibrator and single-chamber pump for precise drug delivery[J]. 吉林大学学报(工学版), 2007, 37(01): 89 -94 .
[8] Cheng Ping，Zhang Hai-tao，Gao Yan，Li Jun-feng，Wang Hong-yan . Application of ANN in property prediction of polyacrylate emulsion
[J]. 吉林大学学报(工学版), 2007, 37(02): 362 -0366 .
[9] Duan Fu-qing，Zhou Ming-quan，Zhang Jia-cai . Non-linear scale space filtering based on mean shift[J]. 吉林大学学报(工学版), 2007, 37(03): 634 -0639 .
[10] Zhang Da-qing;He Qing-hua;Hao Peng;Chen Qian-gen . Robust trajectory tracking control of hydraulic excavator bucket[J]. 吉林大学学报(工学版), 2006, 36(06): 934 -938 .
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd