This paper presents the parametrically excited lateral instabilities of an asymmetrical spherical parallel manipulator (SPM) by means of monodromy matrix method. The linearized equation of motion for the lateral vibrations is developed to analyze the stability problem, resorting to the Floquet theory, which is numerically illustrated. To this end, the parametrically excited unstable regions of the manipulator are visualized to reveal the effect of the system parameters on the stability. Critical parameters, such as rotating speeds of the driving shaft, are identified from the constructed parametric stability chart for the manipulator.
Parameter–Excited Instabilities of a 2UPU-RUR-RPS Spherical Parallel Manipulator With a Driven Universal Joint
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received January 16, 2018; final manuscript received May 9, 2018; published online June 26, 2018. Assoc. Editor: Massimo Callegari.
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Wu, G. (June 26, 2018). "Parameter–Excited Instabilities of a 2UPU-RUR-RPS Spherical Parallel Manipulator With a Driven Universal Joint." ASME. J. Mech. Des. September 2018; 140(9): 092303. https://doi.org/10.1115/1.4040351
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