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《Journal of Northeastern University(Natural Science)》 2010-11
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Dynamic Analysis of a 3-DOF Parallel Manipulator

LI Bing,ZHANG Yu,XIE Li-yang,WEI Yu-lan(School of Mechanical Engineering & Automation,Northeastern University,Shenyang 110004,China. )  
The structural system of a 3-DOF flexible parallel manipulator is described,to which both the fixed and motional coordinate systems are set up. The dynamic characteristics of the manipulator are analyzed by FEM and bending vibration method,thus obtaining the dynamic equation based on the bending vibration theory and comparing it with the dynamic characteristics based on modal assumption. The resonant frequency and damping ratio of the manipulator are obtained via an experimental system for the manipulator,with the resonance mode discussed. The natural frequencies calculated by FEM,bending vibration and modal assumption are compared with the experimental value separately,and the results showed that the natural frequency obtained by modal assumption is closest to the experimental value.
【Fund】: 国家高技术研究发展计划项目(2007AA04Z428);; 中国数控机床专项资金资助项目(2009ZX04013)
【CateGory Index】: TP242
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