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

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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

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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"

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