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中文摘要：
对3-RRS柔性并联机器人进行了动力学建模和频率特性分析，提出了一种空间柔性梁单元模型。基于有限元理论、运动弹性动力分析方法和Lagrange方程，建立了3-RRS柔性并联机器人的支链动力学模型，通过系统的运动协调关系将各支链组装在一起，得到系统的弹性动力学方程。在此基础上，通过仿真算例分析了系统固有频率与机构基本参量之间的关系。结果显示，系统固有频率与结构尺寸、截面参数和材料参量等之间都存在密切的联系。
英文摘要：
The primary goal of this research is dynamics modeling and frequency analysis of a 3-RRS spatial parallel manipulator with flexible links. Firstly, a new model of spatial flexible beam element was proposed. Then, the dynamics equations of all serial sub- chains of the parallel manipulator were derived based on the finite element theory, kineto elastodynamics（KED） analysis method and Lagrange equations. The dynamics model of the complete system was obtained through the application of constraint conditions of the legs and the movable platform. Based on the dynamics model,the relation of the natural frequencies and design parameters of this mechanism were studied through numerical simulation. From the simulation results, the natural frequencies are relatively sensitive to the sectional parameters, structure size and characteristic parameters of material on mechanisms.
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