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A Study on Vibrations of Hexarot-Based High-G Centrifugal Simulators

Published online by Cambridge University Press:  21 May 2019

Siamak PedrammehrOpen the ORCID record for Siamak Pedrammehr[Opens in a new window],
Houshyar Asadi and
Saeid Nahavandi
Houshyar Asadi
Affiliation:
Institute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds Campus, Victoria 3216, Australia E-mails: houshyar.asadi@deakin.edu.au, saeid.nahavandi@deakin.edu.au
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Summary

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This paper investigates the vibrations of hexarot simulators. The generalized modeling of kinematics and dynamics formulation of a hexarot mechanism is addressed. This model considers the flexible manipulator with the base motion. The dynamic formulation has been developed based on the principle of virtual work. The dynamic model consists of the stiffness of the different parts of the mechanism, the effects of gravity and inertia, torque and force related to the joints viscous friction. Finally, the response of the end effector at various frequencies has been presented, and the vibrations of the mechanism and the dynamic stability index have been investigated.

Keywords

Parallel mechanismHexarotSimulatorDynamicsVibrationsVirtual work principle

Information

Type
Articles
Information
Robotica , Volume 38 , Issue 2 , February 2020, pp. 299 - 316
Copyright
© Cambridge University Press 2019 

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