Dynamics Simulation Analysis of Flexible Multibody of Parallel Robot
Take a kind of 3-TPT parallel robot as an example, the model of flexible multibody of parallel machine tool is built by using multibody dynamics simulation software ADAMS and finite element analysis software ANSYS. And dynamics equation of flexible body in spatial is also set up, after that the dynamics simulation is carried out. Then the simulation results of rigid bodies are compared with flexible ones, and the results show that the forces applied on flexible bodies appear high nonlinear, so the simulation results of flexible multibody system are more authentic, nicety and can reflect actual dynamics characteristic of parallel robot.
Kai Cheng, Yingxue Yao and Liang Zhou
C.X. Zhu et al., "Dynamics Simulation Analysis of Flexible Multibody of Parallel Robot", Applied Mechanics and Materials, Vols. 10-12, pp. 647-651, 2008