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Shock and Vibration
Volume 2014, Article ID 370145, 13 pages
Research Article

Dynamic Analysis of Planar 3-RRR Flexible Parallel Robots with Dynamic Stiffening

1School of Engineering Technology, Beijing Normal University Zhuhai, No. 18 Jinfeng Road, Tangjiawan, Zhuhai City, Guangdong 519087, China
2Guangdong Province Key Laboratory of Precision Equipment and Manufacturing Technology, Wushan Road, Tianhe District, Guangzhou 510641, China

Received 12 November 2013; Accepted 16 January 2014; Published 20 March 2014

Academic Editor: Ahmet S. Yigit

Copyright © 2014 Qinghua Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In consideration of the second-order coupling quantity of the axial displacement caused by the transverse displacement of flexible beam, the first-order approximation coupling model of planar 3-RRR flexible parallel robots is presented, in which the rigid body motion constraints, elastic deformation motion constraints, and dynamic constraints of the moving platform are considered. Based on the different speed of the moving platform, numerical simulation results using the conventional zero-order approximation coupling model and the proposed firstorder approximation coupling model show that the effect of “dynamic stiffening” term on dynamic characteristics of the system is insignificant and can be neglected, and the zero-order approximation coupling model is enough precisely for catching essentially dynamic characteristics of the system. Then, the commercial software ANSYS 13.0 is used to confirm the validity of the zero-order approximation coupling model.