Parameter–Excited Instabilities of a 2UPU-RUR-RPS Spherical Parallel Manipulator With a Driven Universal JointSource: Journal of Mechanical Design:;2018:;volume( 140 ):;issue: 009::page 92303Author:Wu, Guanglei
DOI: 10.1115/1.4040351Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the parametrically excited lateral instabilities of an asymmetrical spherical parallel manipulator (SPM) by means of monodromy matrix method. The linearized equation of motion for the lateral vibrations is developed to analyze the stability problem, resorting to the Floquet theory, which is numerically illustrated. To this end, the parametrically excited unstable regions of the manipulator are visualized to reveal the effect of the system parameters on the stability. Critical parameters, such as rotating speeds of the driving shaft, are identified from the constructed parametric stability chart for the manipulator.
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| contributor author | Wu, Guanglei | |
| date accessioned | 2019-02-28T11:03:57Z | |
| date available | 2019-02-28T11:03:57Z | |
| date copyright | 6/26/2018 12:00:00 AM | |
| date issued | 2018 | |
| identifier issn | 1050-0472 | |
| identifier other | md_140_09_092303.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4252286 | |
| description abstract | This paper presents the parametrically excited lateral instabilities of an asymmetrical spherical parallel manipulator (SPM) by means of monodromy matrix method. The linearized equation of motion for the lateral vibrations is developed to analyze the stability problem, resorting to the Floquet theory, which is numerically illustrated. To this end, the parametrically excited unstable regions of the manipulator are visualized to reveal the effect of the system parameters on the stability. Critical parameters, such as rotating speeds of the driving shaft, are identified from the constructed parametric stability chart for the manipulator. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Parameter–Excited Instabilities of a 2UPU-RUR-RPS Spherical Parallel Manipulator With a Driven Universal Joint | |
| type | Journal Paper | |
| journal volume | 140 | |
| journal issue | 9 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.4040351 | |
| journal fristpage | 92303 | |
| journal lastpage | 092303-9 | |
| tree | Journal of Mechanical Design:;2018:;volume( 140 ):;issue: 009 | |
| contenttype | Fulltext |