Dynamic modeling and analysis of planar 3-RRR flexible parallel robots

作者：Zhang, Qing-Hua^*; Zhang, Xian-Min

来源：Journal of Vibration Engineering, 2013, 26(2): 239-245.

• Electronic assemblies
• KED method
• Non-linear dynamic equations
• Parallel robots
• Principle of virtual work
• Rigid-elastic coupling
• Time-varying characteristics
• Transformation matrices

The light, high-speed, flexible parallel robots with high-precision are widely used in the industry, e.g. electronic assembly, precision machining and measurement, aerospace and so on. Planar 3-RRR flexible parallel robots are investigated in this paper. Dynamic model of planar 3-RRR flexible parallel robots was formed by the finite element method, the floating frame of reference, Lagrange equation and the principle of virtual work. The nonlinear dynamic equation with rigid-elastic coupling was established, in which lumped masses and moments of inertia of each joints and the moving platform were considered. The constraint relationship between elastic motion coordinates and rigid ones was studied in detail. According to numerical simulations based on small deformation hypothesis and Comparisons of the proposed method with simplified KED one, it is shown that centrifugal and Coriolis forces of the rigid motion in the system, and time-varying characteristic of the transformation matrix give most important influences on dynamic characteristics of the system.

• 出版日期2013-4
• 单位华南理工大学