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The dynamics of 3-DOF spatial parallel manipulators with flexible links were performed. Firstly, a model of spatial flexible beam element was proposed, and the dynamic equations of elements and branches of the parallel manipulator were derived. Secondly, using the kinematic and dynamic constraint equations of the parallel manipulator, the overall system dynamic equations of the parallel manipulator were obtained by assembling the dynamic equations of branches. Thirdly, the dynamic responses of the 3-RRS parallel mechanism with flexible links were analyzed through numerical simulation. This paper can provide necessary information for the dynamic performance analysis, dynamics optimization design and control of the 3-RRS flexible parallel mechanisms.