Repozytorium publikacji - Politechnika Gdańska

Dynamics analysis of a system composed of a parallel manipulator and of an elastic beam is presented in the paper. Classic 3RRR parallel manipulator is considered and used to deform the beam. Elasto-plastic deformations are investigated. Rigid-finite-elements technique is employed to deal with dynamics of the beam. A multibody structure is associated with the introduced hybrid system in order to model its dynamics. Idea of the corresponding numerical model is presented. Then numerical tests are performed in order to observe behaviour of the tested system. The tests have validated that the parallel manipulator can be successfully used for plastic deformations of beams in order to form them into the industry required shapes. The tests proved that resistances of the beam deformations are the dominant loads for such application. Influence of the platform dynamics is of the secondary order. Longitudinal slip at the platform’s gripper is significant during such processes and should not be locked.

Autorzy

• dr hab. inż. Krzysztof Lipiński link otwiera się w nowej karcie ,
• Krzysztof Bobrowski link otwiera się w nowej karcie ,
• prof. dr hab. inż. Edmund Wittbrodt link otwiera się w nowej karcie