Kinematic,Dynamic Constraint Conditions and System Equations of Flexible Parallel Robots

To obtain the dynamic model of flexible-link parallel robots,the kineto-elastodynamics theory and the finite element method were employed to analyze the relation between elastic deformations and elastic displacements of the flexible links.The kinematic constrain conditions and dynamic constrain conditions of the elastic displacements of the planar flexible parallel robots were proposed.Finite element-based system equations were presented for the dynamics of planar flexible parallel robots.The numerical simulation of a planar 3-RRR parallel robot was presented and compared with the results of SAMCEF software simulation.The maximal relative error is less than 9%,and the numerical simulation results show good coherence and the validity of the system equations.The dynamic behavior of the planar flexible parallel robot can be well illus- trated through the system equations.