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论文类型： 期刊论文

发表时间： 2018-09-01

发表刊物： JOURNAL OF MECHANICAL DESIGN

收录刊物： SCIE

卷号： 140

期号： 9

ISSN号： 1050-0472

摘要： 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.