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lagrange multiplier method

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1 results

Effects of Spherical Clearance Joint on Dynamics of Redundant Driving Spatial Parallel Mechanism
Xiulong Chen, Jingyao Guo
Journal:

Robotica / Volume 39 / Issue 6 / June 2021

Published online by Cambridge University Press:

10 September 2020, pp. 1064-1080
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This paper proposes a dynamic modeling method of redundant drive spatial parallel mechanism, dynamics of 4-UPS-RPU redundant driving spatial parallel mechanism considering spherical joint clearance are analyzed. The dynamic equation of spherical joint clearance with Lagrange multiplier is built. The influences of single clearance and multiple clearances on dynamic responses of redundant drive spatial parallel mechanisms are analyzed under different clearance values. The results show that the dynamic characteristics of the mechanism with single clearance are basically consistent with the ideal situation, and the dynamic characteristics of the mechanism with multi-clearance are significantly different from the ideal situation.