Novel co-simulation technique in the flexible analysis of a parallel robot

This manuscript exploits the efficiency of the co-simulation technique for analyzing parallel mechanisms, in which the flexible behaviour of components is considered. In this regard, first, a co-simulation scheme is introduced, followed by formulations of a benchmark problem, the flexible slider-crank mechanism. Finally, a 3RRR parallel robot with flexible links is assessed. Numerical experiments revealed the ability of co-simulation, in which rigid and flexible links are solved separately, to provide precise results in the analysis.