Dynamic analysis of planar 3-RRR flexible parallel robot

Abstract

The light flexible parallel robots with high-acceleration, high precision are widely used in industry, e.g. in the electronic assembly industry, precision machining and measurement field, aerospace industry and so on. The planar 3-RRR flexible parallel robot is investigated in this paper. Based on the floating frame of reference, Lagrange equation and the principle of virtual work, and in consideration of lumped mass and lumped moment of inertia of the joint and the coupling quantity of axial displacement caused by the transverse displacement of beam, the rigid-flexible coupling dynamic model is presented. Then the dynamic characteristics of the system are studied through numerical simulations that include frequency characteristics, sensitivity analysis, model analysis and dynamic stress analysis. It is essential for the optimum design and the vibration active control system design.