Open AccessAnalysis of Dynamic Characteristics of 6-PSS Parallel Mechanism Considering Spherical Hinge Clearance
Author(s) -
Kun Zhao,
Dan Song
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1939/1/012020
Subject(s) - hinge , lagrange multiplier , kinematics , mechanism (biology) , contact force , mathematics , mathematical analysis , physics , classical mechanics , mathematical optimization , quantum mechanics
This paper is based on a new type of 6-PSS parallel mechanism. Firstly, considering the clearance between the kinematic pair connecting the upper platform and the link, establish a kinematic model considering the spherical hinge clearance. Then, based on the Lankarani-Nikravesh(L-N) contact model and the modified Coulomb friction model calculate the contact force when the spherical elements contact, which is equivalent to the center of the corresponding member as the generalized external force. Apply for Newton Euler method with Lagrange Multiplier to establish the dynamics model of the parallel mechanism with clearance. Finally, the R-K method is used to solve the dynamic equation and analyze the influence of different spherical hinge gap sizes on the dynamic characteristics of the mechanism.