Dynamic simulation of 3-RSR flexible parallel robot

With the increasing requirements of high precision and high efficiency, the flexible parallel robot characterized by both the flexible robot and the parallel robot will be a new hot topic in robotics research. The primary goal of this research is the dynamic simulation of 3-RSR flexible parallel robot. Firstly, the virtual prototype of a 3-RSR parallel robot with flexible links is established on the basis of the finite element software SAMCEF. Then, the displacement, acceleration and equivalent stress of the 3-RSR flexible parallel robot are analyzed. Numerical results show that the flexibility of link has important influence on dynamics performance of the flexible parallel robot.