@inproceedings{36558d940d9b42b2bc5a14cf89ca49f6,
title = "COMPUTATIONAL VERIFICATION OF ANALYTICAL MODAL ANALYSIS SOLUTION OF NON-SYMMETRIC 3RPR PARALLEL KINEMATICS MANIPULATOR",
abstract = "The modal analysis of parallel kinematics manipulators is more complicated than that of serial kinematics manipulators due to the closed kinematic chains of the former. Using commercial finite element software, modal analysis of the manipulator should be typically set up for every single posture. Using commercial software for dynamic stiffness optimization is also less convenient than using an analytical formulation. This paper presents a verification of a proposed analytical solution by comparing it to the finite element solution. Two examples of 3RPR planar parallel kinematics manipulator were presented in the comparison. Similar to the analytical model, the finite element model uses beams to represent the manipulators{\textquoteright} links. First, the comparison between the analytical and finite element models was made to the individual links of the manipulator. Subsequently, the comparison was made to the assembled manipulator. Different ratios of the moving platform stiffness to the leg stiffness were used to investigate the dynamic behavior of the mechanism. It is shown that the derived analytical model for the modal analysis matches quite well with the finite element models. Furthermore, an example of dynamic stiffness optimization using the verified analytical solution was presented.",
keywords = "3RPR, dynamics, modal analysis, Parallel kinematics manipulator, parallel manipulator, vibration",
author = "Abdur Rosyid and Bashar El-Khasawneh and Anas Alazzam",
note = "Publisher Copyright: Copyright {\textcopyright} 2023 by ASME.; ASME 2023 International Mechanical Engineering Congress and Exposition, IMECE 2023 ; Conference date: 29-10-2023 Through 02-11-2023",
year = "2023",
doi = "10.1115/IMECE2023-113212",
language = "British English",
series = "ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)",
publisher = "The American Society of Mechanical Engineers(ASME)",
booktitle = "Dynamics, Vibration, and Control",
address = "United States",
}