A new dynamic index of parallel robots with flexible links

Abstract

The dynamic analysis of a 2-DOF translational parallel robot with flexible links for high-speed pick-and-place operation was investigated. The governing equation of motion of a flexible link was formulated in the floating frame of reference using Euler-Lagrange method. This equation was then transformed into a FEM model. All natural frequencies of the parallel robot were obtained by solving the eigenvalue problem of the governing equation. A new criterion for numerical dynamic performance was investigated which is available for parallel robots with flexible links. This research was based on natural frequencies analysis. The new index was used for dynamic evaluation and optimal design of the pick-and-place robot named Diamond robot.