Dynamic Analysis of Planar 3-RRR Exible Parallel Robots Under Uniform Temperature Change

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Dynamic analysis of planar 3-RRR flexible parallel robots under uniform

temperature change
Article in Journal of Vibration and Control · December 2013

DOI: 10.1177/1077546313490978
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Vibration and Control
Dynamic analysis of planar 3-RRR flexible parallel robots under uniform temperature change
Qinghua Zhang and Xianmin Zhang
Journal of Vibration and Control published online 1 July 2013
DOI: 10.1177/1077546313490978
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parallel robots under uniform DOI: 10.1177/1077546313490978
jvc.sagepub.com
temperature change
Qinghua Zhang and Xianmin Zhang
Abstract
The effect of temperature change on dynamic performances of planar 3-RRR flexible parallel robots is studied in this
paper. In general, the strain and stress are produced not only by the external exciting force, but also by temperature
change. The strain energy that is caused by temperature change should not be ignored. Based on the Hamilton principle
and the finite element method, the general equations of motion of 3-RRR systems are determined, in which the effect of
temperature change is taken into consideration. The equations of motion of planar 3-RRR flexible parallel robots are
solved using Gear’s algorithm. The commercial Ansys 13.0 software is used to confirm the validity of the theory model.
The effect of the daily temperature change of different cities on the performance of 3-RRR flexible parallel robots is
investigated. Numerical results show that a small temperature change will cause a significant change in the stress of the
flexile links of planar 3-RRR flexible parallel robots. The effects of temperature change should not be ignored when
analyzing the dynamic performances of planar 3-RRR flexible parallel robots.
Keywords
Flexible parallel robots, thermal stress, dynamic analysis, elastodynamics, vibration
address manipulators with one flexible link.

1. Introduction Compared with single-link manipulators (Zhu et al.,
Countries throughout the world are always concerned 1999), two-link manipulators (Morris and Madan,
with the challenge of how to save energy and improve 1998), or four-bar linkage mechanisms (Zhang et al.,
industrial productivity. Many researchers have paid 2002b), research works on dynamic modeling of paral-
attention to the light flexible robots with high speed, lel robots are rather few. Different schemes for dynamic
high acceleration, and high accuracy which are widely modeling of flexible mechanism systems have been stu-
used in the assembly industry, the aerospace industry, died by a number of researchers. Those works can be
and the precision machining and measurement field. mainly divided into two categories: the continuous and
However, flexible robots are different to conventional discrete methods. Dynamic spline (Valentini and
rigid robots. Their flexible components are more likely Pennestrı̀, 2011), wave method (Koma and Vukovich,
to elastically deform or vibrate due to the inertial and 2005), and Li group and Li algebras (Ding and Mark,
external forces when the flexible robots are required to 2005) also have been presented recently. Essentially, a
run at high speed and high acceleration. It thus robotic system with flexible links is a continuous system
becomes necessary to include in the dynamic analysis
of robots not only the effect of the rigid body motion, Guangdong Province Key Laboratory of Precision Equipment and
but also the flexibility of the components. Manufacturing Technology, South China University of Technology, China
During the past decades, the question of dynamic Received: 25 September 2012; accepted: 21 April 2013
modeling and control of the flexible robot has been
paid considerable attention as seen in survey papers Corresponding author:
Xianmin Zhang, Guangdong Province Key Laboratory of Precision
(Shabana, 1997; Wasfy and Noor, 2003; Benosman Equipment and Manufacturing Technology, South China University of
and Vey, 2004; Dwivedy and Eberhard, 2006). Technology, Guangzhou 510640, China.
Unfortunately, most published works in the area Email: zhangxm@scut.edu.cn
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2 Journal of Vibration and Control 0(0)
possessing an infinite number of degrees of freedom damage on the vibration response of heated or
and is governed by nonlinear partial differential equa- unheated structures and the change in the time-history
tions. It is very difficult and impractical to solve such diagrams and the Poincaré maps caused by damage and
systems. Hence, considerable attention has been paid to an elevated temperature. Li and Zhou (2003) and Li
the discrete method where the flexible components are and Xi (2006) analyzed large thermal deflections of a
discretized using the assumed modes method (AMM) Timoshenko beam subjected to transversely nonuni-
(Mostafavi et al., 2009), finite element method (FEM) form temperature rises by using the shooting method.
(Nagarajan and Turcic, 1990a,b), or lumped parameter Their work showed that shear deformation effects
method (LPM) (Megahed and Hamza, 2004). Among became significant with a decrease in slenderness and
them, FEM and AMM have been investigated more increase in shear flexibility. Zhang and Bradford (2007)
widely and deeply. Winfrey (1971), Erdman and described the development of a rectangular layered flat-
Sandor (1972), and Imam et al. (1973) were among plate/shell element for the nonlinear finite element ana-
the first investigators to apply the FEM to elastic mech- lysis of reinforced concretes labs at elevated
anism systems. The FEM has been proven to be effi- temperatures. The element was based on the Mindlin–
cient and practical for the dynamic modeling of Reissner plate theory and on Timoshenko’s composite
complex mechanical systems. In the AMM, the elastic beam functions. The results showed that nonlinear
deflection is usually described by a truncated finite effects were important and the finite element model
modal series in terms of spatial mode eigenfunctions incorporated geometric nonlinearity and temperature-
and time-varying mode amplitudes. However, this is dependent material nonlinearity under temperature
not appropriate for links with nonregular cross-sections loading. Pi et al. (2011) analyzed extremal thermoelastic
and complex mechanisms. buckling of fixed slender beams, used convex sets to
Recently, there have been few works on dynamic model the material and geometric properties of the
modeling and control of complex mechanisms. Zhang structure, and derived the upper and lower critical tem-
et al. (2002a,b) studied systematically dynamic model- peratures for the thermoelastic in-plane buckling of
ing and control of flexible linkage mechanisms with fixed slender beams. Hou and Zhang (2009) studied
high speed. Based on the FEM and Hamilton’s prin- dynamic characteristics of flexible linkage mechanism
ciple, a dynamic model in which rigid–elastic coupling (four-bar linkage mechanism) under uniform tempera-
and electromechanical coupling are considered is pre- ture change. However, the effects of temperature
sented. Three active vibration controller design meth- change on the dynamic performances of flexible parallel
odologies (the reduced modal controller, the classical robots have never been studied. Considering the ther-
H1 controller, and the robust H1 controller) were mal effect, Zhang and Hou (2010) studied dynamic ana-
investigated for high-speed flexible mechanism systems lysis of the precision-compliant mechanisms using
with piezoelectric actuators and sensors. Lee and Geng analytical and experimental methods. They find that
(1993) developed a dynamic model of a flexible Stewart the thermal effect has a strong impact on the perform-
platform using Lagrange equations. Liu (2009) estab- ance of the precision positioning stage, and it is essen-
lished equations of motion of spatial flexible 3-pris- tial to consider the thermal effect when analyzing and
matic-joint-revolute-joint-and-spherical-joint (3-PRS) designing a compliant mechanism system. Li et al.
parallel robots for characteristics analysis using FEM (2011) presented a novel optimization method for the
and the kineto-elasto-dynamics (KED) assumption multi-objective topology of thermo-mechanical-compli-
(Erdman et al., 1972). Kang, Mills and Cleghorn ant mechanisms, the influence of temperature are con-
et al. studied dynamic modeling and control of planar sidered in the design.
3-prismatic-joint-revolute-joint-and-revolute-joint The remainder of the paper is organized as follows.
(3-PRR) parallel robots (Kang and Mills, 2002; Piras Section 2 introduces the dynamic modeling method.
et al., 2005; Wang and Mills, 2005, 2006; Zhang et al., Based on the FEM and the Hamilton principle, the
2010). equations of motion of the beam element are presented
Consider thermal loads. Manoach and Ribeiro under uniform temperature change, in which the axial
(2004) studied geometrically nonlinear vibrations of shrinking quantity caused by the transverse displace-
moderately thick beams under the combined action of ment is considered. The relationship between the total
mechanical and thermal loads. The results indicated strain and the stress is given. In Section 3, the equations
that short heat pulses with high magnitudes might of motion of planar 3-RRR flexible parallel robots are
cause vibrations with considerably large amplitudes. developed. A sketch of the planar 3-RRR parallel
Manoach et al. (2012) studied the vibration of lami- robots is introduced. Constraint equations of the
nated beams with damage subjected to dynamic loading system that include rigid-body motion and elastic
and temperature variations using numerical simulation coordinates constraints are presented. Equations of
and experimental tests, and established the influence of motion of the planar 3-RRR flexible parallel robots
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Zhang and Zhang 3
are formed by assembling the equations of motion of axial displacement v10 of point C0 is a linear function,
the elements and considering the constraints of the the lateral displacement v20 is a fifth-order hermit func-
system. In Section 4, numerical calculations are pre- tion, yielding
sented. The commercial Ansys 13.0 software is used " #
to confirm the validity of the theory model. Finally, N 1 ðxÞ
NðxÞ ¼
the conclusions are given in Section 5. N 2 ðxÞ
ð2Þ
f1 0 0 0 f5 0 0 0
¼
2. Dynamic modeling method 0 f2 f3 f4 0 f6 f7 f8
The flexible link can be modeled by connecting a series where
of beam elements. Figure 1 shows a beam element
before and after deformation. O-XY is the global f1 ¼ 1 , f2 ¼ 1 103 þ 154 65 ,
fixed frame and A-xy is the local moving frame with f3 ¼ l ð 63 þ 84 35 Þ f5 ¼ ,
the Ax-axis coincident with the neutral line of the beam l2 ð2 33 þ 34 5 Þ
element. Its original point A is located at one node of f4 ¼ ,
2
the beam element before deformation. B is another x
node of the beam element. The O-x0 y0 system is an f6 ¼ 103 154 þ 65 ¼ ,
l
intermediate coordinate frame whose origin is rigidly
f7 ¼ l ð43 þ 74 35 Þ,
attached to the origin of O-XY and whose axes are
parallel to the axes of the local moving frame A-xy. l2 ð3 24 þ 5 Þ
f8 ¼
Moreover, ’ is the angle between the global fixed 2
frame O-XY and the intermediate coordinate frame The deformation displacements of C in A-xy can be
O-x0 y0 . written as (Zhang et al., 2002b)
Considering the general point Cðx, yÞ in the element,
let point C0 be the corresponding point on the neutral v1 ðx, tÞ v y @v@x20
vðx, tÞ ¼ ¼ 10 ð3Þ
line. Points C0 and C00 are their respective positions after v2 ðx, tÞ v20
deformation. The elastic deformation of the point C0 in
the A-xy is given by Let
" #
v10 ðx, tÞ N 2
v0 ðx, tÞ ¼ ¼ NðxÞef ðtÞ N 1 y @@x
v20 ðx, tÞ
ð1Þ N ¼
N 2
where ef ¼ ½ e1 e2 e3 e4 e5 e6 e7 e8 T is the
nodal displacement vector, in which e1 , e5 are the Then the displacement of C0 can be expressed in the
axial displacements of two nodes A, B, respectively; global fixed frame by
e2 , e6 are the lateral displacements; e3 , e7 are elastic
rotational angles; e4 , e8 are section curvatures, and rC0 ¼ rA þ R e0 þ Nef ð4Þ

NðxÞ is the shape function matrix. Assuming that the
where R is the direction cosine matrix (that is, the O-
XY system with respect to the A- xy system), and is
given by

cos ’ sin ’
R¼
sin ’ cos ’
The vector e0 is the location coordinates of the point C

in the A- xy system and is given by ½x yT , where the
superscript T indicates the matrix transpose, the cou-
pling quantity y@NT2 =@x, which is the axial displace-
ment caused by the transverse displacement of the
beam. The parameter r_C0 can be obtained by taking
the first derivative of equation (4):
: :
r_C0 ¼ rA þR’ e0 þ Nef ’_ þ RN ef ð5Þ
Figure 1. Beam element deformation. where R’ ¼ @R=@’.
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where
2.1. Strain energy of the beam element Z
1
There is a close relationship between the strain and the ke ¼ BT DB dV
displacement, which can be expressed as 2
V
0 1 Z
@v1 qt ¼ BT D"0 dV
0 B @x 1 C
"x B C V
B @v2 C Z
B C
" ¼ @ "y A ¼ B C ¼ Bef ð6Þ 1
xy
B @y C Ce ¼ "T0 D"0 dV
B C 2
@ @v1 @v2 A V
þ
@y @x and V is the volume of the beam element.
The strain and stress are produced due to imposing

external loads on the elastic element. However, the
2.2. Kinetic energy of the beam element
same case will occur under temperature change. The Using equation (5), the kinetic energy of the beam
strain "0 that results from the temperature change is element is written as
called the initial strain. Assuming the beam element Z
material is linear, elastic, and isotropic, the total 1
Te ¼ _rTC0 r_C0 dV
strain " can be written as 2
V
Z
1 1
" ¼ D þ "0 ð7Þ ¼ r_TA r_A þ2_rTA R’ e0 ’_ þ eT0 ’_ 2 dV
2
V
where is the elastic stress and D is the elastic matrix. Z

Here, the stress and strain are treated as a planar stress þ r_TA R’ ’_ þ eT0 ’_ 2 Nef dV
relationship (Li et al., 2004), so V
Z

2 3 0 1 þ r_TA R þ eT0 I~’_ Ne_f dV
1 0 T
E 6 1 0 7" ¼ @ T A V
Z
D¼ 4 1 5 0 ð8Þ 1
1 2 þ ~ e_f ’_ þ e_T NT Ne_f dV
eTf NT Nef ’_ 2 þ 2eTf NT IN
0 0 0 f
2 2
V
ð11Þ
where E is the Young modulus, is Poisson’s ratio,
and , T are the coefficients of thermal expansion of where is the material density, and I~ is a skew-
the material and temperature change respectively. symmetric matrix defined as
Substituting equation (6) into equation (7), after the
0 1
transformation, thermal stress can be written as I~ ¼
1 0
¼ DBef D"0 ð9Þ
Considering the impact of temperature change and

2.3. Equations of motion of the beam element
external force, the strain energy of the beam element The equations of motion of the beam element can be
can be expressed as derived by a variational approach with the Hamilton
Z principle, which states that the motion of an arbitrary
1 mechanical system occurs in such a way that the defin-
Ue ¼ T ð" "0 Þ
2 V ite time integral of the Lagrangian becomes stationary
Z Z
1 T T T
for all the admissible configurations of the system when
¼ ef B DBdVef ef BT D"0 dV the initial (at time t0) and final (at time t1) configur-
2
V
Z
V ð10Þ ations of the system are known (Zhang et al., 2002b).
1 In mathematical terms, this is written as
þ "T0 D"0 dV
2 Zt1
V
J ¼ ðT UÞdt ¼ 0 ð12Þ
¼ eTf ke ef eTf qt þ Ce
t0
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Zhang and Zhang 5
The generalized coordinates for the flexible beam elem- Substituting equations (15) and (16) into equation (13)
ent include rigid coordinates (describe rigid-body and pre-multiplying by matrix TT yields that the equa-
motion) and elastic coordinates (describe elastic tions of motion of the beam element can be expressed in
deformation of the flexible element). However, the O- XY system by
common to much of the literature which addresses
structural vibration, the KED assumption that the influ- Me Ue þ Ce U_ e þ Ke Ue ¼ Qv þ Qe þ Qt ð17Þ
ence of the small-amplitude, high-frequency structural where Me , Ce , Ke are the element generalized mass,
vibrations of the manipulator on its rigid-body motion damping, and stiffness matrices respectively, Qv is the
are neglected is adopted in this paper. Therefore, the quadratic velocity vector that contains the gyroscopic
rigid coordinates are solved by kinematics and only and the Coriolis force components, Qe is the general-
the elastic coordinates are included in the equations of ized external forces vector, Qt is thermal load vector
motion of the flexible beam element. Substituting equa- from temperature change, and
tions (10) and (11) into equation (12), we have
Ke ¼ TT NT4 T’€ þ N3 T’’ ’_ 2 þ N3 T’ ’€ þ ke T
N3 e€ f 2N4 ’_ e_f þ NT4 ’€ N3 ’_ 2 ef
ð13Þ N3 T’_ 2 2N4 T’ ’_ 2
¼ NT5 ’_ 2 NT6 RT r€ A NT7 ’€ þ qe þ qt
Qv ¼ TT NT5 ’_ 2 NT6 RT rA N7 ’€
Q e ¼ T T qe
where
Q t ¼ T T qt
Z Z
~ Me ¼ T T N 3 T
N3 ¼ NT NdV, N4 ¼ NT INdV,
ZV V Ce ¼ 2TT N3 T’ N4 T ’_
N5 ¼ eT0 NdV
V
Z Z
~ 3. Equations of motion of the planar
N6 ¼ NdV, N7 ¼ e0 INdV
V V 3-RRR parallel robots
In this section, according to the above equations of
Equation (13) describes the equations of motion of the motion of the beam element, we will form equations
beam element in the local moving frame A-xy. We hope of motion of the planar 3-RRR parallel robots, in
to express equation (13) in the global fixed frame. which constraint equations of the coordinates are
Define the coordinate transformation matrix T: considered.
2 3
cos ’ sin ’ 0 0 0 0 0 0
6 sin ’ cos ’ 0 0 0 0 0 07
3.1. Sketch of the planar 3-RRR parallel robots
6 7
6 0 0 1 0 0 0 0 07 The sketch map of the planar flexible 3-RRR parallel
6 7
6 0 0 0 1 0 0 0 07 robots is constructed by the regular triangle moving
T¼6
6 0
7
6 0 0 0 cos ’ sin ’ 0 077 platform C1 C2 C3 , the static platform, and three sym-
6 0 0 0 0 sin ’ cos ’ 0 07 metrical kinematic chains A1 B1 C1 , A2 B2 C2 , A3 B3 C3 ,
6 7
4 0 0 0 0 0 0 1 05 as shown in Figure 2. Each of the kinematic chains
0 0 0 0 0 0 0 1 has one active revolute (R) joint followed by two con-
ð14Þ secutive passive revolute (R) joints. The active revolute
joints are installed at Ai , i ¼ 1, 2, 3. A1 , A2 , A3 are the
Then regular triangle’s three vertices. Ai Bi , Bi Ci are the flex-
ible links and A1 B1 ¼ A2 B2 ¼ A3 B3 , B1 C1 ¼ B2 C2 ¼
ef ¼ TUe ð15Þ B3 C3 . The vertices O and P are the centers of the regu-
lar triangles A1 A2 A3 and C1 C2 C3 , respectively. O- XY
where Ue is the elemental nodal coordinate in the O-XY is the global fixed frame. Parameters i , i , i ¼ 1, 2, 3,
system. Taking the first and the second derivatives of are the angles at Ai , Bi , i ¼ 1, 2, 3, between the X-axis
equation (15) with respect to time t yields of the fixed frame and linkages Ai Bi , Bi Ci , i ¼ 1, 2, 3,
respectively. Further, y is the angle at C1 between the
e_f ¼ T’ Ue ’_ þ TU_ e X-axis of the fixed frame and side C1 C2 of the regular
ð16Þ triangle C1 C2 C3 . L1 , L2 , L3 , L4 are the lengths of the
ef ¼ T’’ Ue ’_ 2 þ 2T’ U_ e ’_ þ T’ Ue ’€ þ TUe
segments A2 B2 , B2 C2 , C2 P, OA2 respectively.
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is the coordinate transformation matrix, "Ci , i ¼

3.2. Constraint equations 1, 2, 3, is the elastic rotation angle of the end point of
Constraint equations that include the constraints of the three flexible links connected with the moving platform,
rigid body motion and elastic coordinates are used to XCi , YCi , i ¼ 1, 2, 3, are the elastic displacements of
eliminate the dependent coordinates. As shown in Ci , i ¼ 1, 2, 3, in the O- XY system, and XP , YP , "
Figure 2, constraint equations of the rigid motion are are the elastic displacements and the elastic rotation
given as angle of the moving platform.
XAi þ L1 cos i þ L2 cos i 3.3. Equations of motion of planar 3-RRR parallel

þ L3 cosð =6 þ 2ði 1Þ =3 þ
Þ XP ¼ 0 robots
ð18Þ
YAi þ L1 sin i þ L2 sin i
Considering the constraint equations (18)–(20), let U be
þ L3 sinð =6 þ 2ði 1Þ =3 þ
Þ YP ¼ 0 the generalized elastic coordinate vector of all flexible
links and the moving platform in the O-XY system, in
where ðXAi , YAi Þ, ðXP , YP Þ are the coordinates of the other words, U ¼ ½U11 . . . U3n XP YP "T . By
points Ai and P in the O- XY system, respectively, assembling all the elements in equation (17) according
and i ¼ 1, 2, 3.Assuming that the moving platform is to the compatibility at the nodes, the equations of
rigid, the elastic coordinates at the nodes motion of planar 3-RRR parallel robots are given as
Ci , i ¼ 1, 2, 3, satisfying constraint equations (19) and
(20) are written as MU€ þ CU_ þ KU ¼ Q þ Qh ð21Þ
2 3
XP where M, C, K are the generalized mass, damping, and
XCi yCi 4 YP 5
¼ I T1 ð19Þ stiffness matrices, respectively, Q contains the gyro-
YCi xCi P " scopic, the Coriolis force components and generalized
external force, and Qh is generalized thermal loads.
" ¼ "C1 þ "C2 þ "C3 ð20Þ
4. Simulation and analysis
where I is a 2 2 unit matrix,
To verify the effect of temperature change, numerical
cos
sin
calculation based on the theory model and transient
T1 ¼
sin
cos
dynamic simulation based on Ansys 13.0 are given.
Figure 2. Sketch of the planar 3-RRR parallel robot.
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Zhang and Zhang 7
The maximum equivalent stresses of the active flexible According to the trajectory of the moving platform
links are studied. The parameters of planar 3-RRR par- (equation (22)) and constraint equations of rigid
allel robots are defined in Table 1. motion, (equation (18)), rotation angles, velocities and
It is assumed that the trajectory of the moving plat- accelerations of active joints and passive joints can be
form is described as determined. A simplified 3D model is developed by
8 SolidWorks software, then imported into the
< XP ¼ 0:04 cosð10 tÞ 0:02 Workbench environment which is a simulation
YP ¼ 0:04 sinð10 tÞ ð22Þ module of Ansys 13.0 software for transient dynamic
:

¼ 4 analysis, as shown in Figure 3. For conveniently setting
contact relations between two various components, all
The material of the 3-RRR system is an aluminum components are assumed to be flexible. Figure 4 is the
alloy, the thickness of the moving platform is meshing model. Each active joint is loaded by joint
c ¼ 0:0034m, L3 ¼ 0:108m, L4 ¼ 0:4m, the lumped angle velocities of two motion cycles, and each
mass of the joint m ¼ 0:1kg, and the lumped moment motion cycle is divided into 32 equal intervals. Six flex-
of inertia M ¼ 0:0005 kgm2 . ile links are loaded with a 1 C, 4 C, 6 C thermal
load. Numerical results are given based on Gear’s algo-
rithm, but only six links are assumed to be flexible and
the other components are rigid; each flexible link is
Table 1. Parameters of the flexible links of 3-RRR. divided into three beam elements.
Figure 5 is the maximum stresses of active flexible
Parameter Link Ai Bi Link Bi Ci
link 1 which are solved by the theory model and Ansys
Length (m) 0.245 0.242 13.0 software under temperature changes
Width (m) 0.025 0.025 0 C, 1 C, 4 C, and 6 C; Figure 6 is the maximum
Thickness (m) 0.003 0.003 stresses of active flexible link 1 which are solved by
Density r (kg/m3 ) 2712 the theory model and Ansys 13.0 software under tem-
Young’s modulus E (Pa) 7.1021010
perature changes 1 C, 4 C, and 6 C. The solid
line represents Ansys 13.0 simulation results and the
Poisson’s ratio 0.3
dotted line represents theory results. The solid line or
The coefficient of thermal 18.8106–24106
dotted line with represents the stress responses with-
expansion a (K1 )
out taking into account the thermal effect. The solid
Figure 3. A simplified 3D geometry model of 3-RRR in Ansys 13.0.
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Figure 4. Meshing model of 3-RRR.

Figure 5. The maximum stress of active link 1 under temperature changes 0 C, 1 C, 4 C, and 6 C (theory results vs Ansys 13.0
simulation results).
line or dotted line with þ represents the stress response theory results and Ansys 13.0 simulation results can
with temperature change 1 C. The solid line or dotted match very well, but there is also time delay and a
line with c represents the stress response with tempera- small difference. The detailed information about the
ture change 4 C. The solid line or dotted line with maximum, minimum, and average stress of active link
represents the stress response with temperature change 1 are shown in Table 2. When temperature changes are
6 C. The data of Ansys 13.0 simulation results come 6 C, 4 C, 1 C, 0 C, 1 C, 4 C, 6 C, the
from the second motion cycle of the Ansys simulation errors of maximum stress are 0.53%, 0.37%, 0.06%,
in Figures 5 and 6. From these figures, one finds that 2.12%, 1.19%, 0.25%, 1.72%, respectively.
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Zhang and Zhang 9

Figure 6. The maximum stress of active link 1 under temperature changes 0 C, 1 C, 4 C, and 6 C (theory results vs Ansys
13.0 simulation results).
Table 2. Maximum, minimum, and average stress of active link 1 right. Figures 7–9 are stress preview figures with or
(MPa). without thermal load export from Ansys 13.0
software.
Numerical calculation Ansys 13.0 simulation
T ð C) Max Min Average Max Min Average

Figures 10–12 are the elastic displacements and the
6 17.14 8.67 11.98 17.05 7.02 12.49
rotation angle of the moving platform with respect to
4 16.12 5.79 9.77 16.06 4.93 9.91 one motion cycle under temperature changes 0, 6,
1 15.52 1.77 7.78 15.34 1.61 7.53 6 C, respectively. Figures 13–15 are the elastic dis-
0 14.78 0.56 7.45 15.10 0.17 7.22 placements and the rotation angle of active flexible
1 14.89 1.74 7.38 15.07 1.66 12.63 link 1 with respect to motion cycles under temperature
4 15.90 5.76 9.68 15.86 5.44 9.94 changes 0, 6, 6 C, which are located at 1/3 length of
6 17.76 8.65 12.20 18.07 7.88 7.52 active flexible link 1, respectively. In Figures 10–15, the
solid line with represents elastic deformation
responses without taking into account the thermal
The main reasons for some minute differences can be effect, the solid line with þ represents elastic deform-
concluded as follows: ation responses with temperature change þ6 C, and the
solid line with c represents elastic deformation
1. The different solve algorithms which Gear’s algo- responses with temperature change 6 C. From
rithm and Runge–Kutta method are used. Figures 10–15, ones find that the elastic displacements
2. There are different meshing models. In the theory and the rotation angle of the moving platform and
model, only six links are flexible and divided into active flexible link 1 increase as the temperature
18 beam elements altogether. In the Ansys 13.0 increases or decreases. The results are consistent with
simulation, all components are flexible, and the the maximum stress change of active flexile link 1.
whole system has thousands of different type In order to study the effect of work environment on
elements. 3-RRR robot systems, the stress responses of three
3. The discrepancy between the theory model and 3D active flexible links of 3-RRR systems have been stu-
solid model do not be ignored such as the param- died corresponding to one-day temperature changes of
eters of robots, etc. four cities: Guangzhou, Beijing, Wuhan, and Haerbin,
4. Numerical error is also an important reason. So, one located in southern China, northern China, central
can conclude that the theory model is completely China, and north-east China respectively. (Note: in
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Figure 7. The maximum stress of active link 1 without temperature load.

Figure 8. The maximum stress of active link 1 with temperature rise 6 C.
this paper, the stresses of passive flexible links are not parameters are assumed to be constant in each funda-
studied because their stresses are much smaller than mental time segment. Gear’s algorithm is used to solve
those of active flexible links.) the transient stress response. We map one day into 12
In the theory model, one motion cycle is divided into motion cycles, in other words, each two hours corres-
32 equal fundamental time segments, and dynamic ponds to one motion cycle.
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Zhang and Zhang 11

Figure 9. The maximum stress of active link 1 with temperature decrease 6 C.

Figure 10. The moving platform elastic displacements along with X-axis under temperature changes 0, 6, 6 C.
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Figure 11. The moving platform elastic displacements along with Y-axis under temperature changes 0, 6, 6 C.

Figure 12. The moving platform elastic rotation angle along with X-axis under temperature changes 0, 6, 6 C.
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Zhang and Zhang 13

Figure 13. Elastic displacements along with the X-axis under temperature changes 0, 6, 6 C, which are located at 1/3 length of
active flexible link 1.

Figure 14. Elastic displacements along with the Y-axis under temperature changes 0, 6, 6 C, which are located at 1/3 length of
active flexible link 1.
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Figure 15. Elastic rotation angle in the XY-plane under temperature changes 0, 6, 6 C, which are located at 1/3 length of active
flexible link 1.
Figure 16. The temperature changes of one day (Guangzhou).
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Zhang and Zhang 15
Figure 17. The maximum stress of active link 1 (Guangzhou).
Figure 16 shows the temperature change curves of Figures 20 shows the temperature change curves of
Guangzhou city (from the real weather data of Weather Beijing city (data from Weather China). It is also every
China, found at http://www.weather.com.cn). Every two hours to record the temperature data. The initial
two hours to record the temperature data. The initial temperature is 17 C at 0 : 00. The temperature decreases
temperature is 18.5 C at 0 : 00. The temperature sharply sharply to 15 C between 0 : 00 and 4 : 00, then increases
increases to the maximum value 27.6 C between 0 : 00 to 24 C between 4 : 00 and 16 : 00, and decreases again
and 14 : 00, then decreases to 24 C between 14 : 00 and to 19 C between 16 : 00 and 24 : 00. The temperature
24 : 00. The temperature reaches a peak at 14 : 00. The keeps steady at 16 C and 24 C at the time periods
maximum temperature difference with respect to the 6 : 00–10 : 00 and 16 : 00–18 : 00, respectively. The tem-
initial temperature is 9.1 C. perature reaches a peak at 16 : 00–18 : 00. The max-
Corresponding to Figure 16, Figures 17–19 describe imum temperature difference with respect to the initial
the maximum stress responses of the three active flex- temperature is 7 C.
ible links of the 3-RRR robots. One finds that the max- Figures 21–23 describe the maximum stress
imum stress keeps in step with the temperature change responses of the three active flexible links when the
curve. The maximum stresses of the three active links 3-RRR robot operates at Beijing. One finds that the
appear periodically go up between 0 : 00 and 14 : 00, stresses of the three active flexible links periodically go
then, appear periodically go down between 14 : 00 and up when the temperature goes up or down at time
24 : 00. The maximum stresses of the three active links periods 0 : 00–4 : 00, 4 : 00–6 : 00, 10 : 00–16 : 00, and
are 20.27, 21.1, and 20.81 MPa, respectively, and all 18 : 00–24 : 00, and the stresses periodically keep
appear between 14 : 00 and 16 : 00, namely the highest steady at time periods 6 : 00–10 : 00 and 16 : 00–
temperature time period. One also finds that the max- 18 : 00. The maximum stresses of the three active
imum stresses of the three active links are nearly same. flexible links are 18.45, 18.46, and 18.31 MPa, respect-
The maximum stress differences are 5.49, 7.9, and ively, and all appear at 16 : 00–20 : 00, namely the
6.2 MPa with respect to the first cycle’s maximum highest temperature time period. The stresses of all
stress, respectively. The stress change rates are 0.60, active flexible links go up and down throughout the
0.87, and 0.68 MPa/ C, respectively. The effect of tem- process. The maximum stress differences are 3.6, 5.23,
perature change is more significant on active link 2 than and 3.7 MPa with respect to the first cycle’s maximum
active links 1 and 3. Figures 17–19 show that the stress stress, respectively. The stress change rates are 0.60,
change is nonlinear with respect to temperature change. 0.87, and 0.68 MPa/ C, respectively. The effect of
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temperature change is more significant on active link 2 Figures 24 shows the temperature change curves of
than active links 1 and 3. Figures 17–19 show that the Wuhan city (data from Weather China). It is also every
stress change here is also nonlinear with respect to two hours to record the temperature data. The initial
temperature change. temperature is 24 C at 0 : 00. The temperature decreases
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Zhang and Zhang 17
Figure 20. The temperature changes of one day (Beijing).
Figure 21. The maximum stress of active link 1 (Beijing).
sharply to 22 C between 0 : 00 and 2 : 00, then increases time periods 2 : 00–6 : 00, 12 : 00–14 : 00, and 18 : 00–
to 29 C between 2 : 00 and 12 : 00, and decreases again 20 : 00, respectively. The temperature reaches a peak
to 20 C between 12 : 00 and 24 : 00. The temperature of 29 C at 12 : 00–14 : 00. The maximum temperature
keeps steady at 22 C, 29 C, and 22 C at the three difference with respect to the initial temperature is 5 C.
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Figures 25–27 describe the stress responses of the maximum stresses of three active flexible links appear
three active flexible links when the 3-RRR robot oper- periodically go up, and the maximum stresses will peri-
ates at Wuhan. One gets similar results in Beijing: odically keep steady when the temperature keeps con-
whether the temperature goes up or down, all the stant. The maximum stresses of the three active flexible
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Zhang and Zhang 19
Figure 24. The temperature changes of one day (Wuhan).
Figure 25. The maximum stress of active link 1 (Wuhan).
links are 16.83, 15.98, and 16.26 MPa, respectively, and The maximum stress differences are 1.96, 2.84, and
all appear at 12 : 00–14 : 00, namely, the highest tem- 1.65 MPa with respect to the first cycle’s maximum
perature time period. The stresses of all active flexible stress, respectively. The stress change rates are 0.39,
links also go up and down throughout the process. 0.56, and 0.33 MPa/ C, respectively. The effect of
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temperature change is more significant on active link 2 Figures 28 shows the temperature change curves
than active links 1 and 3. Figures 25–27 show that the of Haerbin city (data from Weather China). It is
stress change here is also nonlinear with respect to tem- also every two hours to record the temperature
perature change. data. The initial temperature is 6.9 C at 0 : 00.
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Zhang and Zhang 21
Figure 28. The temperature changes of one day (Haerbin).
Figure 29. The maximum stress of active link 1 (Haerbin).
The temperature sharply decreases to 4.1 C between increase at 22 : 00–24 : 00. The temperature reaches a
0 : 00 and 6 : 00, then increases to 17.1 C between peak of 17.1 C at 12 : 00–14 : 00. The maximum tem-
6 : 00 and 14 : 00, and decreases again to 6.4 C perature difference with respect to the initial tempera-
between 14 : 00 and 22 : 00, and finally, has a small ture is 10.2 C.
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Figures 29–31 describe the stress responses of the maximum stresses of the three active flexible links
three active flexible links when the 3-RRR robot oper- appear periodically go up. The maximum stresses of
ates at Haerbin. The same results can be obtained: all three active flexible links appear at the highest tem-
whether the temperature goes up or down, all the perature time period, and are 21.95, 22.89, and
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Zhang and Zhang 23
22.55 MPa. The maximum stress difference are 6.3, 5. The effect of the temperature on the stress of the
8.85, and 7.05 MPa with respect to the first cycle’s max- active flexible links of planar 3-RRR parallel
imum stress, respectively. The stress change rates are robots not only relates to the amount of the tem-
0.62, 0.87, and 0.69 MPa/ C, respectively. The effect perature change and the coefficient of thermal
of temperature change is more significant on active expansion of the material a, but also to other factors
link 2 than active links 1 and 3. Figures 25–27 show such as the initial temperature and the temperature
that the stress change here is also nonlinear with respect curve.
to temperature change. 6. The effect of temperature change within a day on the
From Figures 16–31, one finds that the stress change stress of the active flexible links of planar 3-RRR
is nonlinear and closely depends on the temperature parallel robots cannot be neglected, even if the mag-
change. The effect of the Wuhan temperature change nitude of the temperature change is small.
is very small because its temperature change amplitude
is small. Whether the temperature rises or descends To sum up, the effects of temperature change should
with respect to the initial temperature, the maximum not be ignored when analyzing the dynamic perform-
stress of all three active flexible links increases. The ance of planar 3-RRR flexible parallel robots.
more the temperature rises or descends, the more the
stress increases.
The effect of the temperature on the stress of the active Funding
flexible links of planar 3-RRR parallel robots not only This research was supported by the National Science
relates to the magnitude of the temperature change and Foundation of China (grant no. 91223201), the United
the coefficient of thermal expansion of the material a, but Fund of Natural Science Foundation of China and
Guangdong Province (grant no. U0934004), Project
also to other factors such as the initial temperature and
GDUPS (2010), and the Fundamental Research Funds for
the temperature change curve. When planar 3-RRR
the Central Universities (grant no. 2012ZP0004). This sup-
flexible parallel robots operate at high speed and high port is greatly acknowledged.
acceleration in different cities, the local climate will sig-
nificantly affect performance of the system.
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Dynamic analysis of planar 3-RRR ﬂexible parallel robots under uniform

Article in Journal of Vibration and Control · December 2013

Qinghua Zhang Xianmin Zhang

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Dynamic analysis of planar 3-RRR flexible ! The Author(s) 2013

Qinghua Zhang and Xianmin Zhang

address manipulators with one ﬂexible link.

2 Journal of Vibration and Control 0(0)

Zhang and Zhang 3

The vector e0 is the location coordinates of the point C

4 Journal of Vibration and Control 0(0)

The strain and stress are produced due to imposing

Considering the impact of temperature change and

Zhang and Zhang 5

6 Journal of Vibration and Control 0(0)

is the coordinate transformation matrix, "Ci , i ¼

XAi þ L1 cos i þ L2 cos i 3.3. Equations of motion of planar 3-RRR parallel

Figure 2. Sketch of the planar 3-RRR parallel robot.

Zhang and Zhang 7

Figure 3. A simplified 3D geometry model of 3-RRR in Ansys 13.0.

8 Journal of Vibration and Control 0(0)

Figure 4. Meshing model of 3-RRR.

Zhang and Zhang 9

T ð C) Max Min Average Max Min Average

10 Journal of Vibration and Control 0(0)

Figure 7. The maximum stress of active link 1 without temperature load.

Zhang and Zhang 11

12 Journal of Vibration and Control 0(0)

Zhang and Zhang 13

14 Journal of Vibration and Control 0(0)

Figure 16. The temperature changes of one day (Guangzhou).

Zhang and Zhang 15

Figure 17. The maximum stress of active link 1 (Guangzhou).

16 Journal of Vibration and Control 0(0)

Figure 18. The maximum stress of active link 2 (Guangzhou).

Figure 19. The maximum stress of active link 3 (Guangzhou).

Zhang and Zhang 17

Figure 20. The temperature changes of one day (Beijing).

Figure 21. The maximum stress of active link 1 (Beijing).

18 Journal of Vibration and Control 0(0)

Figure 22. The maximum stress of active link 2 (Beijing).

Figure 23. The maximum stress of active link 3 (Beijing).

Zhang and Zhang 19

Figure 24. The temperature changes of one day (Wuhan).

Figure 25. The maximum stress of active link 1 (Wuhan).

20 Journal of Vibration and Control 0(0)

Figure 26. The maximum stress of active link 2 (Wuhan).

Figure 27. The maximum stress of active link 3 (Wuhan).

Zhang and Zhang 21

Figure 28. The temperature changes of one day (Haerbin).

Figure 29. The maximum stress of active link 1 (Haerbin).

22 Journal of Vibration and Control 0(0)

Figure 30. The maximum stress of active link 2 (Haerbin).

Figure 31. The maximum stress of active link 3 (Haerbin).

Zhang and Zhang 23

XAi þ L1 cos i þ L2 cos i 3.3. Equations of motion of planar 3-RRR parallel

T ð C) Max Min Average Max Min Average