柔性并联机器人动力学特性研究

his paper analyzes the effects of mass and rotary inertia of rigid moving platform on flexible parallel robots dynamic characteristic based on robots dynamics model. The kineto-elastodynamics theory and finite element analysis method are employed to derive the effects of inertia parameters on dynamic property. The optimum design method with respect to the minimal mass of rigid moving platform and minimal system deformation energy is presented. The purpose of the effects analysis is well illustrated through the numerical simulation of 3-RRR flexible parallel robot. The results show the effects and the importance of the effects analysis. The mass and rotary inertia of rigid moving platform are demonstrated to have significant impact on the analysis, design and control of flexible parallel robots. The mass and rotary inertia of moving platform should be considered as important design parameters.