Kinematic Chain Equivalent Method for Tube Model and Elastodynamic Optimization for Parallel Mechanism Based on Matrix Structural Analysis

The platforms of parallel mechanisms usually suffer vibration loads. In these cases, structure elastodynamic analysis and elastodynamic optimization of parallel mechanisms are important. A tube structure is very common for parallel mechanisms. This work establishes the model of a tube structure based on matrix structural analysis. The kinematic pair equivalent method is used to simulate the surface contact between the inner and outer tubes. The corresponding mass and stiffness matrices are derived through the strain energy minimization method. The reconfigurable legged lunar lander has been used as an example to verify the effectiveness of this method. By adding the mechanism configuration to the optimization process, the equivalent static load method and the desirability approach are combined and modified. A procedure for the multi-objective elastodynamic optimization of parallel mechanisms is proposed. The optimization procedure is implemented on the lander and the results show a reduction in mass and an increase in natural frequency