Reducing undesirable effects of revolute joint clearances on the dynamic performance of spatial parallel mechanism

Abstract

To mitigate the adverse effects of joint clearances on the dynamic performance of mechanisms, it is essential to investigate the dynamic optimization design of spatial parallel mechanisms with clearances. Currently, there are many studies on the dynamic characteristics of mechanisms with clearances, but there are few studies on dynamic optimization design of mechanisms with clearances, especially on the optimization design of parallel mechanisms with clearances. Therefore, the dynamic optimization design of 3-RRPaR (R stands for revolute joint, Pa stands for quadrilateral structure) parallel mechanism with dry friction clearance of revolute joints is studied. The dynamic model of the parallel mechanism with revolute joint clearance is derived. On these grounds, the dynamic response of the end actuator, the contact collision force at the clearance joint, and their weighted combination are defined as objective functions, respectively. The mass and moment of inertia of the end actuator are taken as optimization variables. A mathematical model for the dynamic optimization design of the parallel mechanism considering dry friction clearances is developed, and the optimal mass and moment of inertia of the end actuator are obtained by G-MSRS method. This study comparatively analyzes the dynamic characteristics of parallel mechanisms with clearances before and after optimization. The results indicate that dynamic optimization significantly enhances the dynamic characteristics of the mechanism. This study lays a theoretical foundation for dynamic optimization design of parallel mechanisms with clearances.

Keywords

Spatial parallel mechanism dynamic optimization design joint clearance revolute joints

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