Virtual prototype simulation of a 3-RRS flexible parallel manipulator

In applications where high structural stiffness, position accuracy, speed motion, and good dynamic performance are predominant requirements, parallel manipulators offer obvious advantages over serial ones. However, dynamic modeling and analysis of parallel manipulator, which are characterized by multiple closed-loop chains, are generally more complex than in the serial mechanism case. Especially, dynamic problems of the parallel manipulators with flexible links have not been studied as extensively. The primary goal of this research is the virtual prototype simulation of spatial flexible parallel manipulator. Firstly, the virtual prototype of a 3-RRS flexible parallel manipulator is established on the basis of the finite element software SAMCEF. Then, the displacement, velocity and acceleration of the 3-RRS flexible parallel manipulator are analyzed. The simulation results show that the flexibility of link has important influence on kinematics and dynamics performance of the flexible parallel manipulator.