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2020 | OriginalPaper | Chapter

U-Joint Induced Torsional Instabilities of a Family of 3-DOF Partially-Decoupled Spherical Parallel Manipulators

Authors : Guanglei Wu, Stéphane Caro

Published in: Recent Advances in Mechanisms, Transmissions and Applications

Publisher: Springer Singapore

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Abstract

This paper deals with the dynamic torsional stability problem of a family of partially-decoupled spherical parallel manipulators. The linearized equations of motion of the mechanical system are established to analyze the stability of the U-joint mechanism, resorting to the Floquet theory. Parametric stability charts of misalignment angles versus rotating speeds of the driving shaft are constructed to identify the unstable regions and critical shaft speeds, together with the effect of the parameters onto the manipulator stability. As a consequence, some criteria for the design and the operational speed of the manipulator, in terms of dynamic stability, are introduced.

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previous chapter Dynamic Model and Simulation Analysis of a 3-DOF Parallel Mechanism
next chapter Conceptual Design of a 2-DoF Planar High-Speed Industrial Parallel Manipulator
Footnotes
1
U, P, R and S stand for the universal, prismatic, revolute and spherical joints, respectively. An underlined letter indicates an actuated joint.
 
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Metadata
Title
U-Joint Induced Torsional Instabilities of a Family of 3-DOF Partially-Decoupled Spherical Parallel Manipulators
Authors
Guanglei Wu
Stéphane Caro
Copyright Year
2020
Publisher
Springer Singapore
Book
Recent Advances in Mechanisms, Transmissions and Applications

Print ISBN: 978-981-15-0141-8

Electronic ISBN: 978-981-15-0142-5

Copyright Year: 2020

DOI
https://doi.org/10.1007/978-981-15-0142-5_33

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