Dynamic modeling of parallel robots with flexible platforms

作者：Long Philip^*; Khalil Wisama; Martinet Philippe

来源：Mechanism and Machine Theory, 2014, 81: 21-35.

DOI：10.1016/j.mechmachtheory.2014.06.009

• Parallel robots
• Flexible manipulators
• Dynamic modeling

This paper presents a method for calculating the direct and inverse dynamic models of a parallel robot with a flexible platform. The system considered in this study is a Gough-Stewart 6-DOF parallel robot however the method is general and can be used for other structures. The platform of the parallel manipulator is considered as a flexible body and modeled using distributed flexibility while the links of the legs are considered as rigid. The direct dynamic model gives the elastic and Cartesian accelerations in terms of the input torques and the current state of the system i.e. the position and velocities of both the rigid and elastic variables. The inverse dynamic model calculates the elastic accelerations and the actuator torques from the current state variables and the desired acceleration of the platform.

• 出版日期2014-11