The effect of temperature change on dynamic performances of planar 3-RRR flexible parallel robots is studied in this paper. In general, the strain and stress are produced not only by the external exciting force, but also by temperature change. The strain energy that is caused by temperature change should not be ignored. Based on the Hamilton principle and the finite element method, the general equations of motion of 3-RRR systems are determined, in which the effect of temperature change is taken into consideration. The equations of motion of planar 3-RRR flexible parallel robots are solved using Gear’s algorithm. The commercial Ansys 13.0 software is used to confirm the validity of the theory model. The effect of the daily temperature change of different cities on the performance of 3-RRR flexible parallel robots is investigated. Numerical results show that a small temperature change will cause a significant change in the stress of the flexile links of planar 3-RRR flexible parallel robots. The effects of temperature change should not be ignored when analyzing the dynamic performances of planar 3-RRR flexible parallel robots.
BenosmanMVeyG (2004) Control of flexible manipulators: A survey. Robotica22: 533–545.
2.
DingXMarkS (2005) Lie groups and Lie algebras on dynamic analysis of beam with spatial compliance. Chinese Journal of Mechanical Engineering42(1): 16–24.
3.
DwivedySEberhardP (2006) Dynamic analysis of flexible manipulators, a literature review. Mechanism and Machine Theory41(7): 749–777.
4.
ErdmanASandorG (1972) Kineto-elastodynamics—A review of the state of the art and trend. Mechanism and Machine Theory7: 19–33.
5.
ErdmanASandorGOakbergR (1972) A general method for kinetoelastodynamic analysis and synthesis of mechanism. ASME Journal of Engineering for Industry94: 1193–1205.
6.
HouWZhangX (2009) Dynamic analysis of flexible linkage mechanisms under uniform temperature change. Journal of Sound and Vibration319: 570–592.
7.
ImamISandorGKramerS (1973) Deflection and stress analysis in high speed planar mechanisms with elastic links. ASME Journal of Engineering for Industry95: 541–584.
KomaAVukovichG (2005) Development and application of an active control system for smart structures using the wave method. Journal of Vibration and Control11(8): 1043–1065.
10.
LeeJGengZ (1993) Dynamic model of a flexible Stewart platform. Computers and Structures48(3): 367–374.
11.
LiDZhangX (2011) Multi-objective topology optimization of thermo-mechanical compliant mechanisms. Chinese Journal of Mechanical Engineering (English Edition)24(6): 1123–1129.
12.
LiSXiS (2006) Large thermal deflections of Timoshenko beams under transversely non-uniform temperature rise. Mechanics Research Communications33(1): 84–92.
13.
LiSZhouY (2003) Geometrically nonlinear analysis of Timoshenko beams under thermomechanical loadings. Journal of Thermal Stresses46(26): 861–872.
14.
Li W, Huang B and Bi Z (2004) Theoretical Analysis and Application of the Thermal Stress. Beijing: China Electric Power Press.
15.
Liu Z (2009) Dynamics of 3-DOF spatial flexible parallel robots. PhD Thesis, Beijing University of Technology, China.
16.
ManoachERibeiroP (2004) Coupled, thermoelastic, large amplitude vibrations of Timoshenko beams. International Journal of Mechanical Sciences46(11): 1589–1606.
17.
ManoachESamborskiSMituraA (2012) Vibration based damage detection in composite beams under temperature variations using Poincaré maps. International Journal of Mechanical Sciences62(1): 120–132.
18.
MegahedSHamzaK (2004) Modeling and simulation of planar flexible link manipulators with rigid tip connections to revolute joints. Robotica22: 285–300.
19.
MorrisAMadanA (1998) Quadratic optimal control of a two-flexible-link robot manipulator. Robotica16: 97–108.
20.
Mostafavi Y, J A and Irani S (2009) Transverse vibration of double cracked beam using assumed mode method. In: RAST ’09: 4th international conference on recent advances in space technologies, Istanbul, Turkey, 11–13 June 2009, pp. 156–160.
21.
NagarajanSTurcicD (1990a) Lagrangian formulation of the equations of motion for the elastic mechanisms with mutual dependence between rigid body and elastic motions: Part 1—Element level equations. ASME Journal of Dynamic Systems, Measurement, and Control112(2): 203–214.
22.
NagarajanSTurcicD (1990b) Lagrangian formulation of the equations of motion for the elastic mechanisms with mutual dependence between rigid body and elastic motions: Part II—System equations. ASME Journal of Dynamic Systems, Measurement, and Control112(2): 215–224.
PirasGCleghornWMillsJ (2005) Dynamic finite element analysis of a planar high-speed, high-precision parallel manipulator with flexible links. Mechanism and Machine Theory40: 849–862.
25.
ShabanaA (1997) Flexible multibody dynamics: Review of past and recent developments. Multibody System Dynamics1(2): 189–222.
26.
ValentiniPiPennestrìE (2011) Modeling elastic beams using dynamic splines. Multibody System Dynamics25: 271–284.
27.
WangXMillsJ (2005) FEM dynamic model for active vibration control of flexible linkages and its application to a planar parallel manipulator. Journal of Applied Acoustics66: 1151–1161.
28.
WangXMillsJ (2006) Dynamic modeling of a flexible-link planar parallel platform using a substructuring approach. Mechanism and Machine Theory41(6): 671–687.
WinfreyR (1971) Elastic link mechanism dynamics. ASME Journal of Engineering for Industry93: 268–272.
31.
ZhangXHouW (2010) Dynamic analysis of the precision compliant mechanisms considering thermal effect. Precision Engineering34(3): 592–606.
32.
ZhangXMillsJCleghornW (2010) Experimental implementation on vibration mode control of a moving 3-PRR flexible parallel manipulator with multiple PZT transducers. Journal of Vibration and Control16(13): 2035–2054.
33.
ZhangXShaoCErdmanA (2002a) Active vibration controller design and comparison study of flexible linkage mechanism systems. Mechanism and Machine Theory37: 985–997.
34.
ZhangXShaoCShenY (2002b) Complex mode dynamic analysis of flexible mechanism systems with piezoelectric sensors and actuators. Multibody System Dynamics8: 51–70.
35.
ZhangYBradfordA (2007) Nonlinear analysis of moderately thick reinforced concrete slabs at elevated temperatures using a rectangular layered plate element with Timoshenko beam functions. Engineering Structures29(10): 2751–2761.
36.
ZhuGGeSLeeT (1999) Simulation studies of tip tracking control of a single-link flexible robot based on a lumped model. Robotica17: 71–78.
