DYNAMIC MODELING OF PLANAR FLEXIBLE

PARALLEL MANIPULATORS

DU Zhaocai  YU Yueqing  ZHANG Xuping

(College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100022)

Abstract: The finite element theory is employed to investigate the theory and method for dynamics modeling of planar parallel manipulators with flexible links. The elastic displacements of the sub-chains and the relation between elastic displacements are analyzed. The kinematic constrain conditions and dynamic constrain conditions of the flexible parallel manipulators are proposed. Considering the effects of distributed mass, lumped mass, shearing deformation, bending deformation, tensile de-formation and lateral displacements, the kineto-elastodynamics theory and Lagrange formulation are employed to derive the dynamic equations of planar flexible parallel manipulators. The elastic vibration characteristics of the flexible planar parallel manipulator are well illustrated through the numerical simulation of a planar 3-RRR parallel manipulator. The flexibility of links is demonstrated to have significant impact on position error and orientation error of the moving platform.

Key words: Flexibility Parallel manipulator Dynamics Model

CLC No: TH112 TP24

国家自然科学基金(50575002), 北京市自然科学基金(3062004), 北京市教委科技发展计划(KM200610005003)和北京市教委人才强教计划拔尖人才(PHR(IHLB))资助项目. Received 20060621, received in revised form 20070315