Nonlinear Elastodynamic Behaviour Analysis of High-Speed Spatial Parallel Coordinate Measuring Machines

In order to study the elastodynamic behaviour of 4-universal joints-prismatic pairs-spherical joints / universal joints-prismatic pairs-universal joints 4-UPS-UPU high-speed spatial PCMMs(parallel coordinate measuring machines), the nonlinear time-varying dynamics model, which comprehensively considers geometric nonlinearity and the rigid-flexible coupling effect, is derived by using Lagrange equations and finite element methods. Based on the Newmark method, the kinematics output response of 4-UPS-UPU PCMMs is illustrated through numerical simulation. The results of the simulation show that the flexibility of the links is demonstrated to have a significant impact on the system dynamics response. This research can provide the important theoretical base of the optimization design and vibration control for 4-UPS-UPU PCMMs.