中文摘要：

为了建立包含柔性杆件的并联机器人的动力学模型,利用运动弹性动力学理论及有限元方法.分析了柔性并联机器人各支链的弹性变形、弹性位移及其耦合关系,提出了柔性并联机器人的运动约束条件和动力约束条件,建立了平面柔性并联机器人的系统方程.以平面3-RRR柔性并联机器人为例,用SAMCEF软件验证了模型的正确性,二者最大相对误差小于9%,说明该动力学模型能正确反映柔性并联机器人的弹性振动特性.

英文摘要：

To obtain the dynamic model of flexible-link parallel robots, the kineto-elastodynamics theory and the finite element method were employed to analyze the relation between elastic deformations and elastic displacements of the flexible links. The kinematic constrain conditions and dynamic constrain conditions of the elastic displacements of the planar flexible parallel robots were proposed. Finite element-based system equations were presented for the dynamics of planar flexible parallel robots. The numerical simulation of a planar 3-RRR parallel robot was presented and compared with the results of SAMCEF software simulation. The maximal relative error is less than 9 %, and the numerical simulation results show good coherence and the validity of the system equations. The dynamic behavior of the planar flexible parallel robot can be well illus-trated through the system equations.