Elastodynamics of a Rigid-Flexible 3-(R)RR Mechanism with Joint Clearances

摘要

The purpose of this paper is to analyze the elastodynamics of a rigid-flexible planar 3-RRR parallel mechanism with multiply joint clearances. In order to reduce the global system coordinates, the nature coordinate is used to model the rigid link, while the absolute nodal coordinate formulation is employed to model the flexure link. Full description of the revolute joint with clearance is given, a continuous dissipative Hertz contact model is applied to describe the contact phenomenon in the joint. Two-step Bathe integration method is utilized to solve the nonlinear system motion equations. Detailed comparisons are made among the systems under different situations. Results demonstrate that the methodology can represent the dynamic performances of the system with link flexibility and joint clearance well.