An efficient dynamic modelling approach for high-speed planar parallel manipulator with flexible links

An efficient dynamic modelling approach was presented for planar parallel manipulator with flexible links. To increase the accuracy of the model, an improved curvature-based finite element method (ICFE) was developed for discretisation of the flexible links. Then, a novel approach for analysis of the coupling between rigid-body motion and flexible-body motion was proposed, and compared to the regular geometrical method, the proposed method was accurate and easy to implement. With the aforementioned proposed methods, the Kane equation was integrated to formulate the dynamic model of a 3RRR planar parallel manipulator. Finally, comparison studies were performed to validate the proposed ICFE and the integrated dynamic modelling method. Compared to the regular curvature-based finite element method (CFE), the ICFE exhibits improved accuracy with equivalent degrees of freedom. Additionally, the proposed integrated dynamic model shows a good agreement with the Abaqus model. Therefore, it was concluded that the proposed dynamic modelling method herein was efficient and accurate for parallel manipulators with flexible links, demonstrating reasonable potentials for model based control.