Rigid-flexible coupling dynamic model of a flexible planar parallel robot for modal characteristics research

摘要

The increasing applications of flexible parallel robots in industrial production have presented the advantages of light weight and high speed, but at the same time, the elastic vibration problem has emerged. By investigating the modal features of flexible parallel robots so as to suppress the elastic vibration, with pinned-pinned as flexible intermediate links boundary conditions, this article analyzes the rigid-flexible coupling dynamic mathematical model of the 3-RRR (3-Rotate-Rotate-Rotate) flexible planar parallel robot with flexible intermediate links. The effect of the extremity concentrated rotation inertia of flexible intermediate links is considered in the mathematical model. Besides, the effect of inertia and coupling force on the dynamic model and the first three-order vibration responses of flexible intermediate links were discussed based on the established model. The corresponding spectrum characteristics were studied using fast Fourier transform. Comparing the frequency characteristics obtained by theoretical model and modal experiment, it was found that the results obtained by the dynamic mathematical model are quite close to the test results. Less dynamic parameters make it convenient to carry out the control program.