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

Table 1

Parameters of the flexible links of 3-RRR.

Parameter	Link 𝐴𝑖𝐵𝑖	link 𝐵𝑖𝐶𝑖
Length (m)	0.245	0.242
Width (m)	0.025	0.025
Thickness (m)	0.003	0.003
Density 𝜌 (kg/m^3)	2712
Young’s Modulus (Pa) 𝐸	7.102×10^10
Poisson’s Ratio 𝜇	0.3