PL EN


Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników
Tytuł artykułu

Dynamical analysis of the deformable power transmission mechanism using mixed FEM and MBS method

Treść / Zawartość
Identyfikatory
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
In the article an algorithm of dynamic analysis of mechanisms of industrial robots is presented using mixed FEM and MBS method. In simulation analysis of this kind of constructions finite elements method (FEM) is commonly used. An alternative method is mixed multibody system (MBS) and FEM formulation. Despite the fact that this formulation undergoes a few limitations, it is often best choice between accuracy and computation efficiency. Mechanisms analyzed in the paper are manipulators of parallel structures. Friction forces in joints are included in the model. A sequence of simulations of the robot behaviour was performed with different input functions (driving torques). Finally the discussion of influence of different integration methods on the accuracy and efficiency of numerical calculations is presented. The paper presents among other schema of modelling with FEM and MBS formulation, CAD model of the parallel Cartesian robot, Manipulator model in MSC.ADAMS application, graph of the driving force and tip orientation differences model of the body with visible parallelograms, FEM models, MBS model of POLYCRANK robot power transmission mechanism, modal shapes corresponded to the lowest modal frequency, driving torque vs. time, angular velocity of the upper shield, reaction forces injoint between cap and disc.
Słowa kluczowe
Twórcy
autor
autor
  • Warsaw University of Technology Institute of Aeronautics and Applied Mechanics Nowowiejska Street 24, 00-665 Warsaw, Poland, jfraczek@meil.pw.edu.pl
Bibliografia
  • [1] ANSYS, ver. 9.00, Documentation, Program.
  • [2] Bathe, K. J., Finite Element Procedures, Prentice Hall 1996.
  • [3] Craig, R. R., Bampton, M. C., Coupling of Substructure in Dynamic Analysis, AIAA Journal, Vol. 6, No. 7, 1968.
  • [4] Frączek, J., Modelowanie mechanizmów przestrzennych metodą układów wieloczłonowych, Oficyna Wydawnicza PW, Warszawa 2002.
  • [5] Mianowski, K., Projektowanie i rozwój konstrukcji mechanicznych robotów mobilnych i manipulatorów, Warszawa 2001.
  • [6] MSC.ADAMS, 2005r2, Documentation, Program, 2005.
  • [7] Orzechowski, G., Analiza dynamiczna robota o strukturze równoległej z członami odkształcalnymi, Thesis (engineering), The Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Thesis supervisor J. Frączek, 2006.
  • [8] Shabana, A. A., Dynamics of Multibody Systems, Cambridge University Press, 2005.
  • [9] THK, General Catalog, Cross-Roller Ring.
  • [10] Unigraphics NX, Documentation, Program, 2005.
  • [11]Witkowski, M., Projekt manipulatora równoległego, Thesis, The Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Thesis supervisor K. Mianowski, 2005.
  • [12] Zglińska, M., Model symulacyjny dynamiki mechanizmu przeniesienia napedu robota POLYCRANK, Thesis, The Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Thesis supervisor J. Frączek, 2008.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BUJ5-0033-0125
JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.