Combination resonance analysis of a multi-DOF controllable close-chain linkage mechanism system

The two-DOF controllable close-chain linkage mechanism system is investigated in this paper. Based on the air-gap field of the non-uniform airspace of motors caused by the eccentricity of rotor, the electromechanical coupling relation in the real running state of motors is analyzed. The electromechanical coupling dynamic model of the system is established by means of the finite element method. The dynamic equation constitutes the basis on which the combination resonance characteristics of the system caused by electromagnetic parameter excitations of the two motors are analyzed by the multiple scales method. The first-order stationary solution is obtained under that condition, and the stability conditions of the stationary solution are also given. Finally, an experiment is presented. Results indicate that it is feasible and beneficial to explain some unexpected strong vibration phenomena in the high-speed operation of such multi-DOF controllable close-chain linkage mechanism using nonlinear combination resonance theories

Operating principle of vibratory stress relief device using coupled lateral-torsional resonance

The current process of vibratory stress relief is limited by centrifugal force produced by eccentric motor since the excitation frequency is mostly less than 200 Hz. The workpiece with high structural stiffness cannot generate enough dynamic stress by the traditional method. In the present work, the vibratory residual stress using pure lateral resonance and the theory of coupled lateral-torsional resonance are compared by the finite element method. Due to the interaction between lateral vibration and torsional vibration, the torsional vibration generated by external lateral excitation can induce coupled lateral-torsional resonance. The large enough dynamic stress is obtained to reduce the residual stress. The principle to reduce residual stress is analyzed by the Unified strength theory. Numeric solutions are obtained to describe the parametric condition to design the device of vibratory stress relief using coupled lateral-torsional resonance. The operating principle of the related device is introduced

Combination resonance analysis of a multi-DOF controllable close-chain linkage mechanism system

The two-DOF controllable close-chain linkage mechanism system is investigated in this paper. Based on the air-gap field of the non-uniform airspace of motors caused by the eccentricity of rotor, the electromechanical coupling relation in the real running state of motors is analyzed. The electromechanical coupling dynamic model of the system is established by means of the finite element method. The dynamic equation constitutes the basis on which the combination resonance characteristics of the system caused by electromagnetic parameter excitations of the two motors are analyzed by the multiple scales method. The first-order stationary solution is obtained under that condition, and the stability conditions of the stationary solution are also given. Finally, an experiment is presented. Results indicate that it is feasible and beneficial to explain some unexpected strong vibration phenomena in the high-speed operation of such multi-DOF controllable close-chain linkage mechanism using nonlinear combination resonance theories

Modeling and Analysis of the Stiffness Distribution of Host–Parasite Robots

The stiffness distribution (SD) of robot has a great influence on the robot pose accuracy, but the calculation efficiency and accuracy of stiffness distribution are still low. This study presents a finite element fitting method with an extremely small number of computational cells. It was developed based on experimental results of robot stiffness. This method can be employed to establish single- and multi-source fitted SD (FSD) (S-FSD and M-FSD) models for host–parasite (H–P) robots. The computational efficiency and correctness of the FSD models were verified by case studies. The configurations of six evolutionary mechanisms of an H–P robot were subjected to an SD analysis. A comparison of the six configurations shows that adding parasitic branched chains can improve the SD of the H–P robot to varying degrees. In particular, the most notable improvement was for H–P mechanism. Specifically, by averaging the stiffness of all positions, the average-stiffnesses of H–P mechanism in the $x$ -, $y$ -, and $z$ -directions were 104.10%, 1427.78%, and 1101.62% of those of the host mechanism, respectively. In the SD diagram, the medium- and high-stiffness regions of mechanism F are large and distributed in a banded pattern between the highest pose point and the furthest pose point, whereas its low-stiffness region is small and concentrated near the nearest pose point

Kinematic Performance Analysis of a Controllable Mechanism Welding Robot with Joint Clearance

Because the motor and reducer of the conventional tandem welding robot are installed at the revolute joint, the robot has large rotational inertia and long residual vibration time. However, due to the limitation of workspace and other reasons, the current parallel robot is not suitable for all series welding robots. Therefore, based on the concept of "multi-degree-of-freedom controllable mechanism", a new controllable mechanism welding robot is proposed in this paper. The driving motor and reducer, which have great influence on the main and branch chain of the welding robot, are installed on the frame. The advantage of this design is that the inertia of the robot mechanism is significantly reduced, and its dynamic performance is improved. The position errors of the end members of the welding robot moving along the circle, as well as the angle errors of each joints under the circle movements are analysed

Kinematic Performance Analysis of a Controllable Mechanism Welding Robot with Joint Clearance

Because the motor and reducer of the conventional tandem welding robot are installed at the revolute joint, the robot has large rotational inertia and long residual vibration time. However, due to the limitation of workspace and other reasons, the current parallel robot is not suitable for all series welding robots. Therefore, based on the concept of "multi-degree-of-freedom controllable mechanism", a new controllable mechanism welding robot is proposed in this paper. The driving motor and reducer, which have great influence on the main and branch chain of the welding robot, are installed on the frame. The advantage of this design is that the inertia of the robot mechanism is significantly reduced, and its dynamic performance is improved. The position errors of the end members of the welding robot moving along the circle, as well as the angle errors of each joints under the circle movements are analysed