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An Experimental Study on the Dynamics of a 3-RRR Flexible Parallel Robot

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4 Author(s)
Yue-Qing Yu ; College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing , China ; Zhao-Cai Du ; Jian-Xin Yang ; Yuan Li

This paper presents an experimental study on the dynamics of flexible parallel robots. First, a theoretical study on the dynamic modeling and numerical solution of parallel robots with flexible links is introduced briefly. Second, the experiment setup that includes the test-bed mechanism of a 3-RRR flexible parallel robot and the hardware and software structures of a control system are then developed. Finally, the experimental study is presented to show the good agreement between the theoretical analysis and experimental results.

Published in:

IEEE Transactions on Robotics  (Volume:27 ,  Issue: 5 )