Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
ANALYSIS OF AN ASYMMETRIC PARALLEL MANIPULATOR FOR DETERMINATION OF PROMISING KINEMATIC AND DYNAMIC PARAMETERS
Submission Author:
Rodrigo Magalhães Cruz Alves Silva , SP
Co-Authors:
Rodrigo Magalhães Cruz Alves Silva, Fernando Malvezzi, Tarcisio Antonio Hess Coelho
Presenter: Rodrigo Magalhães Cruz Alves Silva
doi://10.26678/ABCM.COBEM2019.COB2019-0585
Abstract
This work deals with the analysis of the model of an asymmetric parallel manipulator investigating parameters for improving the performance in terms of stiffness and natural frequencies throughout the workspace, seeking conditions in which the real and ideal properties are close, and thus accurately predict its behavior. The mapping of the stiffness and natural frequencies of the manipulator within its workspace is obtained using the lumped parameters method, assuming the existence of virtual actuators as an alternative to consider the flexibility effects of the manipulator links. In addition, the passive chain effect will also be taken into account to maintain the end effector orientation in relation to the loading. When these effects are considered, the Jacobian matrix associated to the space of the actuators undergoes a change in size and additional considerations are required to determine the stiffness matrix for a configuration of the manipulator. This allows concluding that the use of the lumped parameters associated with the inclusion of virtual actuators allows a simpler and more efficient formulation of deflection and frequencies of the end effector, thus representing a better alternative for analyzing parallel manipulators, providing results that will serve as the background for the parametric synthesis of the mechanism.
Keywords
Parallel Manipulators, stiffness, natural frequencies, Mapping, Lumped Parameters Method
