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Indexed by:期刊论文

Date of Publication:2018-09-01

Journal:JOURNAL OF MECHANICAL DESIGN

Included Journals:SCIE

Volume:140

Issue:9

ISSN No.:1050-0472

Abstract: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.