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

Figure 4

(a) and (b) are elastic displacements of the moving platform along with 𝑋, 𝑌 direction, respectively; (c) is elastic rotational angle of the moving platform in 𝑋𝑌 planar, when 𝑤=10𝜋 rad/s.

(a)

(b)

(c)