Abstract
The present chapter deals with computation of the dynamic model of flexible parallel robots. In order to obtain the elastodynamic model, as in the rigid case, all closed loops must be virtually opened to make the platform virtually disassembled from the rest of the structure which becomes a tree structure with all joints actuated. The elastodynamic model of the tree structure and of the free platform is then computed using a systematic procedure based on the generalized Newton-Euler principle, that makes it possible to reduce the computational complexity of the model. Then, the loops are closed using the principle of virtual powers. As a matter of fact, after an introductory section, this chapter will introduce an effective way to compute the elastodynamic models of a single clamped-free flexible link and of a tree structure robot. Then, the computation of the elastodynamic model of parallel robots is investigated. The simulation results obtained with the dynamic model of a flexible parallel robot are compared with experiments.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
The order of the rotations is not important as we consider small deformations.
- 2.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Briot, S., Khalil, W. (2015). Elastodynamic Modeling of Parallel Robots. In: Dynamics of Parallel Robots. Mechanisms and Machine Science, vol 35. Springer, Cham. https://doi.org/10.1007/978-3-319-19788-3_10
Download citation
DOI: https://doi.org/10.1007/978-3-319-19788-3_10
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-19787-6
Online ISBN: 978-3-319-19788-3
eBook Packages: EngineeringEngineering (R0)