TY - GEN
T1 - Dynamic modeling of five-bar manipulator with structurally flexible linkages
AU - Wang, Hong
AU - Xing, Yanwen
AU - Li, Yanjie
AU - Li, Zexiang
PY - 2010
Y1 - 2010
N2 - In this paper, we investigate a planar parallel mechanism called five-bar mechanism which is used in wire bonders of semiconductor packaging system where the required accuracy is about 2 (um), acceleration reaches 10-15 (g). However, the conventional modeling and analyzing methods that treat all components of the manipulator as rigid and ignore all possible deformations, definitely are insufficient to satisfy those rigorous demands. Thus, in this paper, the dynamic model with consideration of both rigid motion and flexible displacement is developed for the five-bar manipulator. Finite element and Lagrange's equation methods are used to get the mathematical model, Lagrange multiplier method is applied to deal with constraint equations. By comparing dynamic behavior of the system modeled by rigid bodies and flexible bodies, the proposed flexible model is well validated, meanwhile, some analysis from simulation results are given.
AB - In this paper, we investigate a planar parallel mechanism called five-bar mechanism which is used in wire bonders of semiconductor packaging system where the required accuracy is about 2 (um), acceleration reaches 10-15 (g). However, the conventional modeling and analyzing methods that treat all components of the manipulator as rigid and ignore all possible deformations, definitely are insufficient to satisfy those rigorous demands. Thus, in this paper, the dynamic model with consideration of both rigid motion and flexible displacement is developed for the five-bar manipulator. Finite element and Lagrange's equation methods are used to get the mathematical model, Lagrange multiplier method is applied to deal with constraint equations. By comparing dynamic behavior of the system modeled by rigid bodies and flexible bodies, the proposed flexible model is well validated, meanwhile, some analysis from simulation results are given.
KW - Dynamic modeling
KW - Five-bar mechanism
KW - Structurally flexible linkages
UR - https://www.scopus.com/pages/publications/77958138005
U2 - 10.1109/WCICA.2010.5554633
DO - 10.1109/WCICA.2010.5554633
M3 - 会议稿件
AN - SCOPUS:77958138005
SN - 9781424467129
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 5774
EP - 5779
BT - 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
T2 - 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
Y2 - 7 July 2010 through 9 July 2010
ER -