Dynamic Modelling and Analysis of a Novel Redundantly Actuated Parallel Spindle Head

2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM) Pub Date : 2022-11-18 DOI:10.1109/WCMEIM56910.2022.10021492

K. Wang, Zhen He, Chengyang Wu, Fufu Yang, Jun Zhang

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Abstract

Dynamic modelling and analysis are the basis for precise control of mechanical devices. The present aims to provide a dynamic modelling methodology for redundantly actuated parallel spindle head. For this purpose, a novel redundantly actuated parallel spindle head is taken as an example to demonstrate the modelling process. Firstly, the structure of novel redundantly actuated parallel spindle head is described to reveal its topology of 2PRU &(2PRU)R parallel mechanism. Secondly, a close-loop-based kinematic model is constructed to provide kinematic foundation for further dynamic modelling. Thirdly, a comprehensive dynamic model is established by using the principle of virtual work. Based on the established model, the actuated forces are predicted and further optimized by the least 2-norm criterion. Finally, some numerical simulations are carried out to verify the proposed dynamic modelling methodology. The good agreement between the theoretical and numerical results proves the effectiveness of the proposed dynamic model.

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一种新型冗余驱动并联主轴头的动力学建模与分析

动态建模和分析是机械装置精确控制的基础。目前的目的是提供一个动态建模方法的冗余驱动平行主轴头。为此，以一种新型的冗余驱动并联主轴头为例，说明了建模过程。首先，描述了一种新型冗余驱动并联主轴头的结构，揭示了其2PRU &(2PRU)R并联机构的拓扑结构。其次，建立了基于闭环的运动学模型，为进一步的动力学建模提供了运动学基础;第三，利用虚功原理建立了综合的动力学模型。在建立的模型基础上，根据最小2范数准则对驱动力进行预测并进一步优化。最后，进行了数值模拟，验证了所提出的动态建模方法。理论计算结果与数值计算结果吻合较好，证明了所提动力学模型的有效性。

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2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)

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