Flexible body modeling and vibration damping for a planar parallel robot using input shaping

In this paper a new method for deriving and verification of rigid and flexible body kinematic models of complex parallel robots including crank mechanisms is presented. The rigid body kinematic model is based on standard frame transformations and holonomic constraints. Using Euler-Bernoulli beams and assumed modes method, a new concept for deriving the flexible body model is developed which considers configuration-dependent end masses, called effective payloads. Furthermore a vibration analysis is accomplished and a vibration damping strategy for parallel robots based on input shaping described. Through the whole verification process MSC.ADAMS models and measurement data of the demonstrator SpiderMill are used.