An approach to predict lower-order dynamic behaviors of a 5-DOF hybrid robot using a minimum set of generalized coordinates

This paper presents an effective semi-analytical approach for predicting lower-order dynamics of a five degrees-of-freedom (DOF) hybrid robot named TriMule, which is composed 3-DOF parallel mechanism plus 2-DOF A/C wrist. In this method, the governing equations motion limbs within are first formulated by finite element analysis (FEA) and then reduced to super-element models. followed exploiting general stiffness model multiple DOF joints connecting super-elements. These two threads lead dynamic while keeping full set modes retained. Finally, entire system established merging models The computational results show that natural frequencies, mode shapes system, frequency response functions (FRFs) tool center point (TCP) estimated proposed have very good agreement with those obtained order FE experimental modal tests. merits lie in allows be predicted effectively accurately only using fourteen generalized coordinates.