关键词: 柔性并联机器人;动力学建模;固有频率;参量

Abstract:

The primary goal of this research is dynamics modeling and frequency analysis of a 3-RRS spatial parallel manipulator with flexible links.Firstly,a new model of spatial flexible beam element was proposed.Then,the dynamics equations of all serial sub-chains of the parallel manipulator were derived based on the finite element theory,kineto elastodynamics(KED) analysis method and Lagrange equations.The dynamics model of the complete system was obtained through the application of constraint conditions of the legs and the movable platform.Based on the dynamics model,the relation of the natural frequencies and design parameters of this mechanism were studied through numerical simulation.From the simulation results,the natural frequencies are relatively sensitive to the sectional parameters,structure size and characteristic parameters of material on mechanisms.

Key words: flexible parallel manipulator;dynamics modeling;natural frequency;parameter