Abstract:

The primary goal of this research is for dynamics 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 applications of constraint conditions of the legs and the movable platform. Furthermore, Newmark numerical method was used to solve the dynamics equations. Finally, the dynamics responses of the movable platform were analyzed through a numerical simulation. The results can provide necessary information for dynamics performance analysis, dynamics simulation and control of the 3-RRS flexible parallel mechanism.

Key words: flexible parallel manipulator, dynamics analysis, displacement error, finite element, dynamics response

摘要：

对一种空间3-RRS柔性并联机器人进行了动力学分析。首先，提出了一种空间柔性梁单元模型；接着，利用有限元理论、KED分析方法和Lagrange方程建立了3-RRS柔性并联机器人的支链动力学模型，通过运动协调条件将各支链的动力学方程组装在一起，得到了系统弹性动力学方程，在此基础上，分析了柔性并联机器人动力学方程的Newmark求解方法；最后，通过算例分析了该柔性并联机器人动平台动力学响应的变化规律。

关键词: 柔性并联机器人；动力学分析；位移误差；有限元；动力学响应