Rigid vs. flexible links dynamic analysis of a 3DOF parallel robot

The paper presents the dynamic modeling of a 3 DOF parallel robot of type 1PRRR+2PRPaR. Kinematical and dynamical analytical models using Lagrange formulation with multipliers in rigid links hypothesis are carried out, followed by numerical simulation of the rigid vs. flexible links robot models. The flexible links models are derived using AutoFlex module from ADAMS software. Finally, relevant conclusions regarding the dynamic behavior of the 3DOF parallel robot are presented.