Inverse Dynamics Modeling and Simulation Analysis of Multi-Flexible-Body Spatial Parallel Manipulators

Taking a spatial parallel robot with flexible joints and links as the research object, dynamic modeling method for multi-flexible-body system is proposed. Its effectiveness verified by comparing numerical model simulation model. (1) Background: The elastic deformation of in under high-speed operation coupling effect between rigid components substantially affect stability trajectory accuracy. Therefore, it necessary to analyze characteristics systems establishing accurate models. (2) Methods: First, finite element was used discretize links. Subsequently, according floating frame reference coordinate method, coordinates were described. first six modal information retained develop considering joint link link. Second, end-effector small displacement changes established coordination matrix. Furthermore, based on vector combined higher-order form kinematic chains. Finally, three chains assembled that obtain an systems. (3) Results: motion floats around fully certain range. range travel x, y, z directions 0 3.14, 4.06, 0.483 mm, respectively. With increasing angular velocity, maximum absolute amplitude driving torque each branch chain also increases, whereas its trend remains unchanged. (4) Conclusions: proposed robots are correct, which can lay solid foundation further control performance analysis.