A Simplified Dynamic Analysis Modeling on a Full Parallel Manipulator System with Flexure Hinges

Full parallel manipulator systems with flexure hinges are widely applied in many fields demanding high precision, whose dynamic performances influence the system positioning accuracy, so it is very necessary to analyze the structural dynamics in detail. The dynamic analyses of this kind of systems are relatively complex for they belong to spatial multi-loops mechanisms. In this paper, a simplified modeling is proposed which can estimates the natural characters. This method can provide an effective generalized model to estimate lower natural frequencies of the parallel manipulators with flexure hinges needless to deduce the complicated dynamics model. Firstly, the system kinematics model is established, based on which the flexibility matrix is deduced. And then the dynamics equation can be formulated, via which the lower natural frequencies can be calculated. It is validated that the method proposes an effective and concise estimating model for generalized parallel manipulator systems´ dynamics characters