Kinematic constraint conditions and dynamic equations of spatial flexible parallel manipulator

The primary goal of this research is dynamics modeling and analysis of spatial parallel manipulator with flexible links. A new model of spatial finite element beam model is proposed. The kinematic constraint conditions of the moving platform and the branches of the spatial flexible parallel manipulator are derived. The dynamic model of the moving platform is developed based on the Newton-Euler principle. Then, using the kinematic constraint equations and dynamic model of the moving platform, the overall system dynamic equations of the parallel manipulator are obtained through assembling the dynamic equations of elements. Finally, the numerical simulation of a 3-RRS parallel manipulator was presented and compared with the results of SAMCEF software simulation. The results showed that the effectiveness and correctness of the dynamic models proposed in this paper.