Dynamic Analysis of Planar 3-<u>R</u>RR Flexible Parallel Robots with Dynamic Stiffening

<table>(a) and (b) are elastic displacements of the moving platform along with <svg height="11.175" id="M255" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 13.5875 11.175" width="13.5875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg> direction, respectively, (c) is elastic rotational angle of the moving platform in <svg height="11.175" id="M257" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 25.125 11.175" width="25.125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M775 650l-6 -28q-60 -6 -81.5 -16t-61.5 -54l-175 -191l125 -243q30 -58 48.5 -71t82.5 -19l-5 -28h-275l7 28l35 4q31 4 37 12t-6 34l-108 216q-140 -165 -177 -219q-16 -22 -10.5 -30.5t41.5 -13.5l22 -3l-7 -28h-244l8 28q52 4 75 15.5t67 52.5q48 46 206 231
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</svg> planar, and (d) is maximum stress response of all flexible links through numerical calculation, when <svg height="11.125" id="M258" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 66.175003 11.125" width="66.175003" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg> rad/s.</table>

Shock and Vibration

fig8

Figure 8

Figure 8: Dynamic Analysis of Planar 3-<u>R</u>RR Flexible Parallel Robots with Dynamic Stiffening 

Shock and Vibration

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

Figure 8