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Elastodynamics of the Rigid-Flexible 3-ṞRR Mechanism Using ANCF Method

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Intelligent Robotics and Applications (ICIRA 2014)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8918))

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Abstract

The elastodynamics of the 3-RRR mechanism is studied in this paper. The absolute nodal coordinate formulation (ANCF) is used to model the flexible links, the generalized α method with several efficient methods are adopted to solve the equations of motion of the system. A comparison is made between the rigid and flexible links of the mechanism. The results show that the flexibility of the link affects the displacement, velocity and acceleration of the moving platform significantly, and the flexure mechanism exhibits high frequencies vibrations

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Authors and Affiliations

  1. Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, 510640, Guangzhou, Guangdong, China

    Xuchong Zhang & Xianmin Zhang

Authors
  1. Xuchong Zhang
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  2. Xianmin Zhang
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Editor information

Editors and Affiliations

  1. School of Mechanical and Automobile Engineering, South China University of Technology, Wushan Rd. 381, Tianhe District, 510641, Guangzhou, China

    Xianmin Zhang , Zhong Chen  & Nianfeng Wang ,  & 

  2. Group of Intelligent System and Biomedical Robotics, School of Creative Technologies, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

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© 2014 Springer International Publishing Switzerland

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Zhang, X., Zhang, X. (2014). Elastodynamics of the Rigid-Flexible 3-ṞRR Mechanism Using ANCF Method. In: Zhang, X., Liu, H., Chen, Z., Wang, N. (eds) Intelligent Robotics and Applications. ICIRA 2014. Lecture Notes in Computer Science(), vol 8918. Springer, Cham. https://doi.org/10.1007/978-3-319-13963-0_3

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  • DOI: https://doi.org/10.1007/978-3-319-13963-0_3

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-13962-3

  • Online ISBN: 978-3-319-13963-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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