Parallel kinematic machines (PKMs) have been proposed as an alternative solution for high-speed machining (HSM) tool for several years. However, their dynamic characteristics are still considered an issue for practice application. Considering the three prismatic–revolute–spherical (3-PRS) PKM design as a typical compliant parallel device, this paper applies substructure synthesis strategy to establish an analytical elastodynamic model for the device. The proposed model considers the effects of component compliances and kinematic pair contraints so that it can predict the dynamic characteristics of the 3-PRS PKM. Based on eigenvalue decomposition of the characteristic equations, the natural frequencies and corresponding vibration modes at a typical configuration are analyzed and verified by numerical simulations. With an algorithm of workspace partitions combining with eigenvalue decompositions, the distributions of lower-order natural frequencies throughout the workspace are computed to reveal a strong dependency of dynamic characteristics on mechanism's configurations. In addition, the effects of the radii of the platform and the base along with the cross section of the limb on lower-order natural frequencies are analyzed to provide useful information during the early design stage. At last, frequency response analysis for the tool center point (TCP) is worked out based on the elastodynamic model to provide primary guideline for cutting chatter avoidance.
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April 2016
Research-Article
Elastodynamic Model-Based Vibration Characteristics Prediction of a Three Prismatic–Revolute–Spherical Parallel Kinematic Machine
Jun Zhang,
Jun Zhang
School of Mechanical Engineering,
Anhui University of Technology,
Ma'anshan 243032, China;
Anhui University of Technology,
Ma'anshan 243032, China;
State Key Laboratory for Manufacturing
Systems Engineering,
Xi'an Jiaotong University,
Xi'an 710049, China
e-mail: zhang_jun@tju.edu.cn
Systems Engineering,
Xi'an Jiaotong University,
Xi'an 710049, China
e-mail: zhang_jun@tju.edu.cn
Search for other works by this author on:
Yan Q. Zhao,
Yan Q. Zhao
School of Mechanical Engineering,
Anhui University of Technology,
Ma'anshan 243032, China
e-mail: zhaoyanqin_91@163.com
Anhui University of Technology,
Ma'anshan 243032, China
e-mail: zhaoyanqin_91@163.com
Search for other works by this author on:
Marco Ceccarelli
Marco Ceccarelli
Department of Civil and Mechanical Engineering,
University of Cassino and South Latium,
Cassino 03040, Italy
e-mail: ceccarelli@unicas.it
University of Cassino and South Latium,
Cassino 03040, Italy
e-mail: ceccarelli@unicas.it
Search for other works by this author on:
Jun Zhang
School of Mechanical Engineering,
Anhui University of Technology,
Ma'anshan 243032, China;
Anhui University of Technology,
Ma'anshan 243032, China;
State Key Laboratory for Manufacturing
Systems Engineering,
Xi'an Jiaotong University,
Xi'an 710049, China
e-mail: zhang_jun@tju.edu.cn
Systems Engineering,
Xi'an Jiaotong University,
Xi'an 710049, China
e-mail: zhang_jun@tju.edu.cn
Yan Q. Zhao
School of Mechanical Engineering,
Anhui University of Technology,
Ma'anshan 243032, China
e-mail: zhaoyanqin_91@163.com
Anhui University of Technology,
Ma'anshan 243032, China
e-mail: zhaoyanqin_91@163.com
Marco Ceccarelli
Department of Civil and Mechanical Engineering,
University of Cassino and South Latium,
Cassino 03040, Italy
e-mail: ceccarelli@unicas.it
University of Cassino and South Latium,
Cassino 03040, Italy
e-mail: ceccarelli@unicas.it
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received May 2, 2015; final manuscript received January 10, 2016; published online February 18, 2016. Assoc. Editor: Heikki Handroos.
J. Dyn. Sys., Meas., Control. Apr 2016, 138(4): 041009 (14 pages)
Published Online: February 18, 2016
Article history
Received:
May 2, 2015
Revised:
January 10, 2016
Citation
Zhang, J., Zhao, Y. Q., and Ceccarelli, M. (February 18, 2016). "Elastodynamic Model-Based Vibration Characteristics Prediction of a Three Prismatic–Revolute–Spherical Parallel Kinematic Machine." ASME. J. Dyn. Sys., Meas., Control. April 2016; 138(4): 041009. https://doi.org/10.1115/1.4032657
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