Elastodynamic performance of a spatial redundantly actuated parallel mechanism constrained by two point-contact higher kinematic pairs via a model reduction technique

Chen Cheng, Bin Liu, Yenan Li,Zhen Liu,Song Yang, Yanchao Wang

Mechanism and Machine Theory（2022）

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摘要

•A redundantly actuated parallel mechanism with two point-contact higher kinematic pairs.•A matrix structural analysis based model reduction technique in elaborating the elastodynamic model.•Completely and partially rigid assumption of the end effector.•Elastodynamic analysis of the mechanism.

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关键词

Elastodynamic performance,Higher kinematic pairs,Redundant actuation,Spatial parallel mechanism,Matrix structural analysis,Model reduction

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