DocumentCode
2162641
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
fYear
2010
fDate
4-6 Dec. 2010
Firstpage
5091
Lastpage
5094
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Information Science and Engineering (ICISE), 2010 2nd International Conference on
Conference_Location
Hangzhou, China
Print_ISBN
978-1-4244-7616-9
Type
conf
DOI
10.1109/ICISE.2010.5691807
Filename
5691807
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