Title :
Dynamic simulation of 3-RSR flexible parallel robot
Author :
Shanzeng, Liu ; Lianjie, Zhang ; Zhencai, Zhu ; Chusheng, Liu ; Zhongkai, Li
Author_Institution :
School of Mechanical and Electrical Engineering, China University of Mining and Technology, 221116, Xuzhou, China
Abstract :
With the increasing requirements of high precision and high efficiency, the flexible parallel robot characterized by both the flexible robot and the parallel robot will be a new hot topic in robotics research. The primary goal of this research is the dynamic simulation of 3-RSR flexible parallel robot. Firstly, the virtual prototype of a 3-RSR parallel robot with flexible links is established on the basis of the finite element software SAMCEF. Then, the displacement, acceleration and equivalent stress of the 3-RSR flexible parallel robot are analyzed. Numerical results show that the flexibility of link has important influence on dynamics performance of the flexible parallel robot.
Keywords :
Finite element methods; Manipulator dynamics; Parallel robots; Solid modeling; Stress; dynamics; flexible; parallel robots; simulation;
Conference_Titel :
Information Science and Engineering (ICISE), 2010 2nd International Conference on
Conference_Location :
Hangzhou, China
Print_ISBN :
978-1-4244-7616-9
DOI :
10.1109/ICISE.2010.5691807
