Kinematics and Dynamics of 3-RRC Flexible Parallel Manipulator

In applications where high stiffness, high accuracy, high speed, high payload, and good dynamic performance are predominant requirements, parallel manipulators offer obvious advantages over serial ones. However, dynamic modeling and analysis of parallel manipulator, which are characterized by multiple closed-loop chains, are generally more complex than in the serial mechanism case. Especially, dynamic problems of the parallel manipulators with flexible links have not been studied as extensively. The primary goal of this research is the kinematics and dynamics simulation of a 3-RRC flexible parallel manipulator. The architecture of the mechanism is comprised of a moving platform attached to a fixed platform through three identical revolute-revolute- cylindric jointed serial linkages. Firstly, the virtual prototype of a 3-RRC flexible parallel manipulator is established on the basis of the finite element software SAMCEF. Then, the displacement, velocity and dynamic stress of the 3-RRC flexible parallel manipulator are analyzed. The simulation results show that the flexibility of link has important influence on kinematics and dynamics performance of the flexible parallel manipulator. The analysis could provide necessary information for dynamic performance analysis, optimal design and control of the 3-RRC parallel mechanism.