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**Dynamic Modeling and Inverse Dynamic Analysis of Flexible Parallel Robots
**

Du Zhaocai and Yu Yueqing

College of Mechanical Engineering & Applied Electronics Technology，Beijing University of Technology，Beijing, China Corresponding author E-mail: duzhaocai@emails.bjut.edu.cn

Abstract: This paper presents a method for the dynamic modeling of parallel robots with flexible links and rigid moving platform based on finite element theory. The relation between elastic displacements of links is investigated, taking into consideration the coupling effects of elastic motion and rigid motion. The kinematic and dynamic constraint conditions of elastic displacements of flexible parallel robots are presented. The KinetoElastodynamics theory and Timoshenko beam theory are employed to derive the equations of motion, considering the effects of distributed mass, lumped mass, rotary inertia, shearing deformation, bending deformation, lateral deformations and all the dynamic coupling terms. The dynamic behavior due to flexibility of links is well illustrated through numerical simulation. Compared with the results of SAMCEF software simulation, the numerical simulation results show good coherence and the advantages of the method. The flexibility of links is demonstrated to have significant impact on system performance and stability. A method for the inverse dynamic analysis of flexible parallel robots is presented. Keywords: flexible parallel robot, flexible link, dynamic modeling, inverse dynamic analysis

1. Introduction The parallel robot has been an advanced topic in robotics research. Parallel robots are widely used in many applications (Lebret, G. et al, 1993), such as entertainment, home services, flying machines, submarines, assembling robots, etc. Planar parallel robots are good candidates for microminiaturization into microdevices. Compared with serial robots, parallel robots are provided with a series of advantages in terms of heavy payload, small error, high positional accuracy, ease of control, and so on. Currently, many industries generally use serial robots in operations. Results are good, but both accuracy and throughput could be significantly improved by using parallel robots (Gabriel P., 2003). Several researchers have studied parallel robots, but most of the researches have been restricted to the rigid parallel robot (Liu, K. et al, 1993 ; Liu, K. et al, 1994). Few investigations (Wang, X Y., 2005 ; Wang, X Y. & James, K M., 2006) have been concerned with the flexible parallel robot. The trend towards higher operating speed and use of less material requires that some phenomena which used to be omitted have to be taken into account in dynamic analysis, and it is necessary to consider links’ flexibility and coupling effects of the flexible links’ elastic displacement. The dynamics of flexible robots working at high speed has been studied by many researchers (Book, W J., 1990 ; Gaultier, P E. & Cleghorn, W L., 1989 ; Santosha K D. & Peter E. 2006), and a number of

approaches have been developed to predict the elastic dynamic behavior of flexible serial robots. Some researchers have proposed an efficient procedure for computer generation of symbolic modeling equations for planar serial robots with rigid and flexible links (Wang, D. & Vidyasagar, M., 1992 ; Lin, J. & Lewis, F L., 1994). Because of the complexity resulting from the presence of multi-closed loops and the limitation of computer facilities accessible, this method may not be suitable for parallel robots with flexible links and rigid moving platform. In recent years, parallel robots have received more and more attention. Although several investigators have used finite element techniques to model flexible parallel robots, they did not include all the influences below (Benosman, M. & Le, V G., 2002 ; Fattah, A. et al, 1994 ): (a) Lumped mass, rotary inertia. (b) Shearing deformation, bending deformation, lateral deformation. (c) All the dynamic coupling terms. Till now, a practical method to enable designers to predict the elastic dynamic behavior of parallel robots with flexible links and rigid moving platform has not been available. It is believed that a comprehensive dynamic model is crucial in the design process, in performance evaluation and for control purposes. The Kineto-Elastodynamics (KED) theory studies moving mechanisms, taking into account deformations of the flexible links due to external and internal loads. The elastic deformations of the links play a significant role in

International Journal of Advanced Robotic Systems, Vol. 5, No. 1 (2008) ISSN 1729-8806, pp. 115-122

115

Oxy is a global reference frame and Ax y is a local reference frame attached to the left end of link i . The effects of distributed mass. S A. The concept of the kinematic and dynamic constraint conditions of elastic displacement for flexible parallel robots is used to decouple moving platform’s motion equations from those of the sub-chains. 2 contains a beam with lumped mass attached to both endpoints. Model of flexible beam element A flexible parallel robot can be divided into several parts which are composed of equal cross-section beam elements. a method for the inverse dynamic analysis of flexible parallel robots is introduced. or generalized coordinates. u3 .2. u4 . Zhang. This is achieved using the KED theory (Fraid. are expressed in matrix form as S 4 ( x.1. 5. The equal cross-section beam element is usually used to describe a links’ elastic displacement. expressed as: ρ. and the internal forces are greater. Model of a flexible beam element & & Te3 = (mA + mB )v 2 + mBθ 2 L2 2 + mBθ Lv A sin θ + ( J A & & & & + J )θ 2 2 + θ 2 uT ⋅ m ⋅ u 2 + uT ⋅ m ⋅ u 2 + uT ⋅ Y 2 A B c c c The displacements of a point in the element include axial. u = {u1 . & Plosa. et al. This should not be simply neglected. Yang. shearing deformation. B and C to B ′ and C ′ . t ) . u j + 4 ( j =1. P. These can be described with a set of interpolation functions and generalized coordinates S i ( x. The objective of the investigation in this paper is to develop a simple and efficient method for dynamic modeling and inverse dynamic analysis of flexible parallel robots. respectively. transverse.. The total kinetic energy of the element depends on generalized coordinates. Based on the dynamic model. S 3 ( x. J. 1 their deformed configuration A′ . A && && & & & + θ uT ⋅ bc ⋅ u + uT ⋅ Z c + uT ⋅ mJ ⋅ u 2 + θ uT ⋅ Z J and L are density of material. rotating kinetic energy and 2. t ) = (∂Ν 2 ∂x) ⋅ u = N 3 ⋅ u S 4 ( x.International Journal of Advanced Robotic Systems. The lumped mass physically represents the effect of the actuator mass or payload on the dynamic response. 2. The elastic motion of a beam element is shown in Fig. and the rotary displacements and curvature displacements with respect to the 2. 1. considering translating kinetic energy Te1 . t ) .. S W. 1. 2. transverse displacements along the z axis. 2. u2 . 2000 . lumped mass. Dynamic equations 2. rotary inertia. t ) = N i T ⋅ u T 2 2 T (i = 1. u6 . u5 . The position error and orientation error of moving platform resulted from the links’ elastic displacement are calculated. Jerzy. The element nodal displacements. vA is 116 . C. respectively. Kinetic energy and potential energy of the beam element The beam element described in Fig. u7 . Now we can derive the dynamic equations of flexible parallel robots by applying the basic beam element developed above. 2000 . S 2 ( x. Vol. So the x axis is always directed along the axis of link i in its rigid body configuration (shown in solid lines) which is oriented by angle θ . rotary and curvature displacements. Then. Z. No. A two-node finite beam element representing a portion of link i of the flexible parallel robots is shown in Fig.. t ) and section and the length of the element. of nodes 1 and lumped mass attached to the endpoints of element.. 2000 . t ) . respectively.3and 4) are axial displacements the x axis. respectively. bending deformation and lateral deformation are all taken into account. M. from their rigid body position A . 1 (2008) high-speed opertations because the links are usually lighter in weight. u8 } where T (1) Te 2 and the kinetic energy Te3 of the along y axis. It is assumed that the deformed position (shown in dashed lines) transforms two nodes. the total kinetic energy Te of the element can be described as (5) Te = Te1 + Te 2 + Te3 Where y u3 u 2 L A B u6 u5 u7 x u4 u1 2 & & & & Te1 = ρ A(v A L + v Aθ L2 sin θ + θ 2 L3 3) 2 + uT ⋅ m ⋅ u 2 2 T T T T & && & + θ u ⋅ m ⋅ u 2 + θ u ⋅ b ⋅ u + u ⋅Y + u ⋅ Z 2 T T & & & & T = ρ Iθ L 2 + u ⋅ F + u ⋅ m ⋅ u 2 e2 r u8 Fig.2. u j . 1997) and considering the elastic displacement of links and dynamic coupling effects. & Lukasiewicz. the area of cross- S 1 ( x.2) T T (2) (3) (4) S3 ( x. & Sadler. t ) = (∂ N 2 ∂x ) ⋅ u = N 4 ⋅ u where N1 and N2 are the vectors of quintic Hermite polynomials and a linear polynomial.

. 2.Du Zhaocai and Yu Yueqing: Dynamic Modeling and Inverse Dynamic Analysis of Flexible Parallel Robots the absolute velocity of node A . 3. respectively. I is the moment of inertia of the cross-section with respect to z axis passing through the centroid of the element. given in reference(Zhang. yD ) are position vectors of endpoint of sub-chain j in actual configuration and && & M e ⋅ u + C e ⋅ u + K e ⋅ u = pe + f e + qe where (8) M e = m + mc + m r + m J & C = 2θ (b + b ) e c Fig. and performing the required differentiation and algebraic manipulators. Kinematic constraint conditions AS shown in Fig. θ is the angle of x axis of the local reference frame with respect to x axis of the global reference frame. Except for B pe is the inertia force vector of the element. δ y ) and ε are x . all the terms in equation (8) are A′ x f e and qe . (δ x . Abridged general view of parallel robots 117 . mB . B′ϕ is the external force vector. connected to the base with several independent kinematic chains. the motion equations of the element can be written in matrix form ( xD . The relation between the actual configuration (shown as a solid line) and the nominal configuration (shown as a dashed line) can be described using the motion of point C θ dx V A x c O x Fig. The position vector of the endpoint of sub-chain j in actual configuration can be written as Ve = Ve1 + Ve 2 where (6) Ve1 = EJ Z uT ⋅ ( Ω1 + k1λ + k2λ + k3λ ) ⋅ u 2 Ve 2 = uT ⋅ ( EAχ 1 + k N ) ⋅ u 2 where E is tensile modulus of elasticity. namely the end-effector.4. respectively. y′ ) D D and & d(∂Te ∂u ) dt − ∂Te ∂u + ∂Ve ∂u = Qe (7) ⎧1 ⎪ = ⎨−ε ⎪ ⎩0 ε −δ x ⎫ ⎪ 1 −δ y ⎬ ⎪ 0 1 ⎭ the By substituting equations (5) and (6) into equation (7). 1997). damping matrix and stiffness matrix of the element.3. 2. 4. The local reference frame is attached to moving platform. JZ is area moment of inertia of the cross-section with respect to z axis. C. K e = EJ Z ( Ω1 + k1λ + k2λ + k3λ ) + EAχ 1 + k N && & + θ (b + b ) − θ 2 ( m + m ) c c m A . as shown in Fig. C e and K e are the mass matrix. Subcript e represents the elemental property. Each of these chains contains many indepentent passive joints and actuated joints. y & & & && pe = Y + Yc − Z − Z c − F − θ Z J M e . y axial displacements Pxy and deformations angular displacement of moving platform changing from the nominal configuration to actual configuration . Dynamic equations of element The Lagrangian principle is employed in deriving the motion equations of the element where ′ ⎧ xD ⎫ ⎧ xD ⎫ ⎪ ⎪ ⎪ ⎪ ′ ⎨ yD ⎬ = RP ′P ⎨ yD ⎬ ⎪1⎪ ⎪ ⎪ ⎩ ⎭ ⎩1⎭ (9) RP ′P ( x′ . tensile-compression strain due to axial deformations and transverse transverse Ve 2 P on moving platform. 2. J A and JB are lumped mass and lumped rotary inertia at the endpoints of the element. Elastic motion of a beam element The total potential energy of the energy Ve of the element is composed bending-shearing strain energy V e1 due to deformations. a parallel robot is composed of a moving platform. fe qe is the force y C′ α θ W vector exerted by adjacent elements. respectively. et al.3.

Φj where DD ′ represents the position vector of the endpoint of the sub-chain j which is changing from the nominal configuration to the actual configuration. f jy ) ⋅ ⎜ ∑ ⎜ − cos φ ⎟⎥L j j ⎠⎥ j =1 j =1 ⎢ ⎝ ⎣ ⎦ N Fig. y axial resultant external forces and the is the inclination angle of axis of the resultant external moment exerting on moving platform. ∑F x oy and o are x. This is achieved by applying a linear transformation between the u and the element generalized coordinates corresponding system generalized coordinates 2. Vol. Dynamic constraint conditions U via the P on moving platform can appropriate transformation matrix R . Thus ⎛ x′ ⎞ ⎛ xP ⎞ ⎛ δ x ⎞ ⎜ P⎟ ⎜ ⎟ ⎜ ⎟ ⎜ y′ ⎟ = ⎜ y P ⎟ + ⎜ δ y ⎟ P ⎜ β′⎟ ⎜ β ⎟ ⎜ ε ⎟ ⎝ ⎠ ⎝ ⎠ ⎝ ⎠ where u = R ⋅U (12) where (14) ( x ′ . the local reference frame The position vector RP ′P is the mP . respectively. respectively. respectively. respectively. y P . global reference frame with respect to the vector connecting point P with the endpoint of sub-chain j in U jx and U jy are x . Lj is the distance from point axial elastic displacements of the endpoint of the sub-chain j P to the endpoint of sub-chain j. ⎡ cos θ ⎢ − sin θ ⎢ ⎢ 0 ⎢ 0 R=⎢ ⎢ 0 ⎢ ⎢ 0 ⎢ 0 ⎢ ⎢ 0 ⎣ sin θ cos θ 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 sin θ cos θ 0 0 0 1 0 0 0 cos θ 0 0 − sin θ 0 0 0 0 0 0 0 0⎤ 0 0⎥ ⎥ 0 0⎥ ⎥ 0 0⎥ 0 0⎥ ⎥ 0 0⎥ 1 0⎥ ⎥ 0 1⎥ ⎦ 118 . y the actual configuration. Therefore a proper transformation between the element and the corresponding system coordinates is essential. sub-chains. 4.5. System dynamic equations The parallel robot can be conveniently modeled as a system in terms of a set of system generalized coordinates By substituting equation (9) and (10) into equation (11). The dynamic constraint conditions of the flexible planar parallel manipulator are obtained using Newton-Euler formula. β ′) and ( x P . respectively. the kinematic constraint conditions of elastic displacements are obtained ⎧U jx ⎫ ⎧ 0 ⎪ ⎪ ⎪ ⎨U jy ⎬ = ⎨− ε ⎪ 1 ⎪ ⎪0 ⎩ ⎭ ⎩ The position vector of point be expressed as ε − δ x ⎫⎧ xD ⎫ ⎪⎪ ⎪ 0 − δ y ⎬⎨ y D ⎬ 0 1 ⎪⎪ 1 ⎪ ⎭⎩ ⎭ U (11) with respect to the fixed frame Oxy . ⎛ U jx ⎞ ⎛ x′ ⎞ ⎛ xD ⎞ D DD′ = ⎜ ⎟ = ⎜ ⎟−⎜ ⎟ ′ ⎝ U jy ⎠ ⎝ yD ⎠ ⎝ yD ⎠ ∑M ∑F . 2. I P are mass and rotary inertia of moving platform. 1 (2008) Y y P x B P′ ε y′ D x′ B′ D′ ⎡mP ⎢0 ⎢ ⎢0 ⎣ 0 mP 0 ⎛ N ⎞ ⎜ ∑ f jx ⎟ = 0 ⎤⎛ &&′ ⎞ ⎜ jN 1 ⎟ ⎛ ∑ Fox ⎞ x ⎟ ⎟ ⎜ ⎜ P⎟ ⎜ 0 ⎥⎜ &&′ ⎟ = ⎜ ∑ f jy ⎟ + ⎜ ∑ Foy ⎟ yP ⎥ j =1 ⎟ ⎜ M ⎟ & I P ⎥⎜ β&′ ⎟ ⎜ N ⎦⎝ ⎠ ⎜ ⎟ ⎝∑ o ⎠ Mj⎟ ⎜∑ ⎝ j =1 ⎠ (13) Oi Oj X where N ⎡ ⎛ sin φ j ⎞⎤ ⎟ M j = ∑ ⎢( f jx . transformation matrix from the global reference frame to P ′x ′y ′ . N is the number of . respectively.International Journal of Advanced Robotic Systems. y ox axial internal DD ′ can be expressed as forces and internal moment exerted on moving platform by sub-chain (10) . β ) are the position P P vectors of point P in the actual configuration and the nominal configuration. f jy j and Mj are x.6. f jx . Relation between the actual configurationand nominal configuration nominal configuration. 5.. No. y ′ .

Cs represent the total damping and structural ∑ M ir qr + ∑ ( r =1 r . Secondly. respectively. velocity and acceleration of the endeffector remain unknown. In order to increase the accuracy of the results. “Driving constraint method” based on the flexible multibody theory is an accurate method. The main drawback of this method is the difficulty in dynamic modeling for multi-link robots. and all the system mass matrix. these “rigid body driving forces” are substituted into the dynamic equations of the flexible robot to calculate the elastic motion variables. C′ . the motion differential equation should be integrated to calculate the driving forces even if there is no redundant rigid body freedom. Such an approximation may lead to definite error in the result. “modified driving force method” is presented here. As we know. 2… k ) are Rayleigh proportional (18) where Substituting C ′ with C in equation (15). Towards this objective. orientation variables and the joint variables can not be determined from the kinematic analysis. thus The research on inverse dynamics of the flexible parallel robot is quite difficult. K . the overall system damping matrix is given as M . respectively. respectively. Qi is the i component of the generalized forces with respect to generalized coordinates. the position and orientation vector effector is determined by joint variables deformation of links. respectively. qr th are the && & M ⋅U + C ⋅U + K ⋅U = P + Q 3. So it is very difficult to solve the inverse dynamic equations. the rigid body motion variables are approximately determined under the assumption that the actual trajectory is carried out by the rigid robot. The “driving force method” is an approximation method. It is generally recognized that the actual damping should contain the structural damping. this method can not be employed in this paper. and Q are the functions of & θ. M sr and K ir are component of mass matrix and stiffness matrix. The object is achieved by performing iterative computations. C s = α1 M + α 2 K C . Thirdly. The driving forces are used as constraints to synthesize the dynamic equations. The damping matrix C ′ in equation (15) involves only the equivalent damping of the system. This matrix is && & M ⋅U + C ′ ⋅U + K ⋅U = P + Q (15) where M . There are two solutions for inverse dynamics of flexible robots based on the role of the driving forces (moments) in the inverse dynamics equations. P & θ& . so the method is widely used for rigid body system. For the convenience of description. The relation between the position variables. damping matrix and generalized forces S θ S of the endand elastic can be expressed as (19) S = S (θ . Generally. the driving forces are considered as drive force and constrained force.Du Zhaocai and Yu Yueqing: Dynamic Modeling and Inverse Dynamic Analysis of Flexible Parallel Robots a function of angle θ . Inverse dynamics analysis (17) s th and generalized coordinate. the general form of the system dynamic equations are obtained coefficients. respectively. These variables must be obtained by solving the dynamic equations. all these variables are substituted into the equation (18) to calculate the driving forces. k is the number of generalized coordinates. For the flexible body system. Therefore. Lastly. α1 . s =1 k k k damping of the system. All the generalized coordinates except for the position. M ir r th . α2 ∂V + ∑ K ir ⋅ qr + = Qi ∂qi r =1 (i = 1. orientation.θ and C = C ′ + Cs Where (16) are the functions of generalized coordinates. Firstly. stiffness matrix. Because the dynamic model of flexible parallel robots based on the flexible multibody dynamic theory has not been obtained. the kinematic constraint conditions and dynamic constraint conditions. V is the system potential energy. and expressing in terms of the global coordinates U . and Cs ∂M ir 1 ∂M sr − ⋅ )qs qr ∂qs 2 ∂qi is derived by damping using the Rayleigh proportional damping method. the system dynamic equations are obtained R represents the transformation matrix from the global reference frame to a local reference frame. The damping matrix in equation (15) should be modified in order to include structural damping in the model whenever present. the “rigid body driving forces” are derived from the rigidbody motion equations. U is the expression of u in the global reference frame. C ′ and K are the mass. the equivalent damping and the stiffness matrix of system. Employing all the motion equations of the basic beam element. neglecting structural damping in the dynamic model may lead to an unreasonable response. U ) 119 . qs . the solutions are called “driving force method” and “driving constraint method” in this paper.

1kg.y axial coordinates of the . The orientation error can not be calculated by using SAMCEF software. So far there has been no practicable ΔS is less than the prescribed accuracy ε. Ui is obtained. Because Si of the the ⎧ X = 0. Poisson’s ratio of 0. 5.U i ) − Si*-1 (θi*−1 .25 + 0. and point P is the centroid of moving platform. starting from the ground. namely all the links are flexible and moving platform is rigid. U . the actuated joint is underlined. θ i and U i required values. U ) . and the error is less than the will be considered as the Si* (θi* . 0. Generally. thus and elastic deformation & && (U .U i* ) = Si*-1 (θi*−1 . a 3-RRR robot is composed of three RRR kinematic chains. Vol. U U 6 ϕ represents the orientation (21) S (θ . three rotational joints.1×1011Pa.U i*−1 ) − ΔS error (22) Repeat the above-mentioned iterative process until the the joint variables θ and elastic deformation U are obtained and then the driving forces (moments) are achieved. The simultaneous equations constituted by equation (19) and equation (20) are the universal model of inverse dynamics of flexible robots (Guo. In order to verify the validity of the method. The length of each link is 0. some assumptions are presented to simplify the calculation and obtain the approximate result. U ) of links are determined by joint driving forces (moments) & && & && F (τ ) = W ⋅ τ = f (θ . U ) (20) where W is coefficient matrix. The motion of point θi (original value) and P is described as “rigid body driving forces (moments)” are calculated and then the elastic deformation Secondly.International Journal of Advanced Robotic Systems. 1 (2008) Joint variables & && (θ . 0). Therefore. respectively.003m×0. 5. therefore RRR represents a kinematic chain composed of. The error can be expressed as X P .θ ) τ .01× cos(π ⋅ t 10) ⎩ where point (t = 0 ~ 4s ) θi is derived from assumption. so there is only a numerically calculated result shown in Fig. elastic modulus of 2.003m.04kg. Y represent x.15. The difference between the software simulation results and the numerical simulation results is less than 10%.3. are expressed in a global frame.3.θ . 1992). In this paper. this will result in the error of the position and orientation vector of the end-effector. Generally. ΔS = Si (θi . an iterative computing algorithm is presented to increase the calculating accuracy. this model is not suitable for theoretical analysis. (0. The length of each edge of the triangular moving platform is 0. fulfilled the predefined requirements and adequately revealed the intrinsical characteristics. With these nomenclature. No. Due to the complexity of these equations. U . Lastly. Firstly.1) and (0. Therefore the numerical example of a flexible planar 3RRR parallel robot is presented here.2. θ . otherwise let i −1 . shown in Figs. the trajectory of the endeffector is assumed to be realized by the rigid robot.. respectively. Generalized coordinates of 3-RRR 120 . U i*−1 ) where vector * 0 * 0 angle of moving platform. θ . Each link is made of steel with mass density of 7800kg/m3.U ) = S (θ . thus the rigid joint variables flexible parallel robots for the purpose mentioned above. Numerical simulation and analysis Because of the complexity of manufacture and control. it is a challengeable task to design and produce a flexible parallel robot. So the model is useful for dynamic analysis of flexible parallel robots.042 × cos(π ⋅ t 2) ⎪ ⎨Y = 0. R stands for revolute. If given accuracy ε .042 × sin(π ⋅ t 2) ⎪ϕ = 0. t represents time. U 7 23 U U 22 U U U 3 5 8 U U 16 15 U U U 14 24 21 U U 4 13 U U 19 18 2 U 11 U U 10 U 20 U 12 1 U 9 17 U Fig. U . the numerical simulation results show good correspondence and demonstrate the accuracy of the method. the results are compared with SAMCEF software simulation results. 0). 4. 5.2m. The mass of moving platform is 0. J F. 8.U ) * i -1 * i −1 * i −1 is the position and orientation in step calculated * 0 S (θ . The results are analyzed as follows. The dynamic characteristics of flexible parallel robots are illustrated using the model. The position errors and orientation errors of point P . 6-8. θi and Ui are substituted into equation (19) to calculate the position and orientation vector end-effector. and the crosssection is 0.042m. Compared with the results of SAMCEF software simulation. The lumped mass attached to each endpoint of the links is 0. The coordinates of the fixed hinge are (-0. A typical 3-RRR planar robot is shown in Fig.

015 rad.002 0. X axial position error of point P SAMCEF result model result 0.010 -0. The driving moment of flexible robot 121 .008 0. (3) The dynamic response of flexible parallel robots is drastically different from the response of rigid ones.004 -0.015 -0.008 0 1 2 3 As shown in Figs. 8. the frequencies of oscillations of position errors and orientation error are remarkable. 6. The data and their changing pattern are coincident with the dynamic characteristics of flexible robots. The results verify the validity of the inverse dynamics method presented in this paper.000 -0. and the orientation error is -0.006 -0. (4) Position errors and orientation error are important performance criteria to measure the capacity of flexible parallel robots. In order to shorten the paper.002 0. Orientation error should be taken into account in selecting the working position. (6) The method presented for the inverse dynamic analysis is valid and effective. The x . (2) The links’ flexibility and the coupling effects of elastic motion and rigid motion have a significant impact on system performance and stability.2Nm. only the driving moment of the 1st sub-chain of flexible parallel robot is shown in Fig.010 0.008 0. It is applicable for dynamic modeling of spatial parallel robots with various kinds of kinematic pairs. while the orientation error is greater. y axial position errors are 6mm and 8mm. Conclusions (1) An approach to dynamic modeling of flexible parallel robots is presented using the kinematic and dynamic constraint conditions of elastic displacements proposed in this paper.000 -0. (5) The analysis of the position errors and orientation error is useful to control the vibration of flexible parallel robots.Du Zhaocai and Yu Yueqing: Dynamic Modeling and Inverse Dynamic Analysis of Flexible Parallel Robots 0. the actual trajectory oscillates regularly around the nominal trajectory. Orientation error of point P 2 rigid robot flexible robot Driving moment (N m) The maximum position errors and orientation error due to elastic displacement of links are remarkable.020 1 2 3 4 Time (s) Fig.004 -0. The driving moment of flexible robot oscillates around the driving moment of rigid robot. These errors can indicate the motion stability. Moreover. So the conclusion can be drawn that the actual trajectory is essentially an elastic oscillation. Moreover. The results are useful in selecting working positions to fulfill given requirements. Y axial position error of point P model result 0.006 -0.008 0 1 2 3 4 Time (s) Fig. 7. respectively. So it is necessary to analyze both the position errors and orientation error.006 0. the position errors of some positions are less. and the errors of any position are dramatically different from those of other positions.002 -0.000 -0. 6-8. The oscillating amplitude is about 0.005 orientation angle (rad) 0. The driving moment of the rigid one (shown in dashed lines) is also presented. Y axial position error (m) 4 Time (s) Fig.004 0.002 -0. 9. 5. 9 (shown in real lines). 1 0 -1 -2 -3 0 1 2 3 4 Time (t) Fig.004 0.006 SAMCEF result model result X axial position error (m) 0.005 -0.

USA. & James. 8.71-82. No. pp. and control of flexible manipulator arms: A tutorial review. 1. ISBN 7-111-05544-6. USA. China Machine Press. F L. pp. & Lewis. (1990).5. for assistance in polishing the English.4. Dynamics of systems with changing configuration and with flexible beam-like links. F L. USA Book. Washington. Master thesis. J.454-466. & Huang. Beijing Natural Science foundation (3062004). K. F L. A K. G. (2000).419-437. Proceedings of the 20th Design Automation Conference. K M. Canada Gaultier. & Plosa.53-61. (2006). Dynamic finite-element analysis of a planar high-speed. V G. et al. Dynamic analysis of flexible manipulators. USA Fraid. ISSN: 0094-114X Lin. New York. & Lewis. ISSN: 0094-114X Zhang. M. Vol.749-777. M.1-10. Dynamic analysis and control of a Stewart platform manipulator. & Cleghorn. Beijing Education Committee. No. & Le. Computers and Structures.35.483-490. a literature review. & Vidyasagar. pp. (1997). (1994). Edmund and Rhoda Perozzi. Y Q. Vol. J F. & Lukasiewicz. & Wang. F L. IEEE Transactions on Robotics and Automation. pp.. (1993). No. Vol. IEEE Control Systems Society. Honolulu. Minnesota. Dynamics of a flexible-link planar parallel manipulator in Cartesian space. Toronto. Vol. pp. G. 10. experimental identification. Modeling. USA Fattah. 629-655. 287-308. (2000). K. & Angeles.4. (2006). 671-687. C.2-3. ISSN: 0094-114X Yang. Mechanism and Machine Theory. (1992). On issues of elastic-rigid coupling in finite element modeling of high-speed machines. & Lewis. pp. ISSN : 1042-296X Wang. pp.5. New York. Modeling of flexible manipulator dynamics: A literature survey. (2005).13. E. 35. W L. Hawaii. 1 (2008) 6. Mechanism and Machine Theory. both of Beijing University of Technology. Proceedings of the 1st National Applied Mechanism and Robot Conference. Dynamic modeling of a flexible-link planar parallel platform using a substructuring approach. Doctor thesis.3. ISBN : 0791812839 . & Sadler. Dynamic modeling of spatial manipulators with flexible links and joints.1.15151534. 167-183. No. pp. & Lebret. pp. ISSN : 0741-2223 Jerzy.13. & Peter. Toronto. (1992).International Journal of Advanced Robotic Systems. Journal of Robotic Systems. & Lewis. IEEE Robotics and Automation society. 5. pp. pp. The singularities and dynamics of a Stewart platform manipulator. Institute of Electrical and Electronics Engineers. X Y. ISSN: 0921-0296 Liu. ISSN :1000-9345 Lebret. D. P. 33-41.500-506. Chinese Journal of Mechanical Engineering (English Edition). ISSN: 0094-114X Wang. No. (1993). Vol. Beijing Science and Technology Committee. and active vibration control design of a "smart parallel manipulator". China 122 . S W. (2002). D. Vol. Joint trajectory tracking for planar multi-link flexible manipulator: Simulation and experiment for a two-link flexible manipulator. 2000. et al. ISSN: 0278-081X Santosha. M. No. A symbolic formulation of dynamic equations for a manipulator with rigid and flexible links. high-precision parallel manipulator with flexible links. American Society of Mechanical Engineers. & Liu. 1989. Beijing. Z L. 1994. Proceedings of International Conference on Robotics and Automation. Mechanism and Machine Theory. Washington. Circuits. S A. Analysis and Design of Elastic Linkages. K D. Minneapolis. 2002. No. ISSN : 0278-3649 Liu. 1992. (2003). A. M. (1994). USA Guo. pp. Hawaii. Acknowledgment This research is supported by National Natural Science foundation of China (50575002). No. Vol. Vol. Graduate department of Mechanical and Industrial Engineering University of Toronto. X Y.4. ISBN: 0-7803-7272-7. Vol.75. Vol. Institute of Electrical and Electronics Engineers. Modeling a class of multilink manipulators with the last link flexible. J.5. Graduate department of Mechanical and Industrial Engineering University of Toronto. Canada Wang.C. Solution of nonlinear kinematics of a parallel-link constrained Stewart platform manipulator. The authors also thank Drs. K.12. Cincinnati. American Society of Mechanical Engineers.41. pp. Vol. Journal of Interlligent and Robotic systems. Mechanism and Machine Theory. pp.41. Z.2461-2466.9. J. Dynamic modeling. design. The International Journal of Robotics Research. & Fitzgerald. References Benosman. The method of linearizing dynamic model and solving normal dynamic problems of flexible robots. Ohio. (1989). & Misra. pp.8. (1994). ASME Design Engineering Division. 5. (2000). 7. P E. W J. Systems and Signal Processing. ISSN : 0045-7949 Gabriel P. ISBN : 90CH2917-3. Proceedings of the 29th IEEE Conference on Decision and Control. Vol. 1990.

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