Dynamics simulation for flexible parallel robot

In this paper the slender rods of the parallel robot is considered to be flexible bodies for solving the dynamics of parallel robot more accurately, but it is very complex to build the mathematic multibody model, we put forward a method to easily resolve it by software. First, the Lagrange equation and modal synthesis method for flexible body are given, and then the cooperative simulation method using ADAMS and ANSYS is presents for solving flexible multibody dynamics of flexible robots, and the concrete steps also are introduced. At last we take a kind of 3-TPT parallel robot as an example to carry out dynamic simulation using the method, and compared simulation results of rigid bodies with ones of flexible bodies. All the results show that: the forces applied on flexible bodies appear high nonlinear, which is more close to the truth, so the simulation results of flexible multibody system are more authentic and can reflect actual dynamic characteristic of parallel robot.