Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations

Abstract

This paper presents dynamic analysis studies of planar parallel flexible 3-RRR manipulator with and without considering the flexibility of mobile platform. Initially, by treating all the members of the manipulator as flexible, the joint displacements, reaction forces and stresses are obtained during a specified trajectory tracking in Cartesian space. A comparative study is conducted with manipulator configuration having rigid mobile platform using coupled dynamics of limbs and kinematic constraints of mobile platform. Dynamic response of flexible manipulator is validated using ANSYS simulations for two different cases of trajectories. The results show a remarkable effect of flexibility of mobile platform on the overall dynamic response. After validation of the model, the inverse dynamic analysis data is used to create the system dynamics by employing generalized regression neural network (GRNN) model and the forward dynamic solutions of the flexible manipulator are predicted instantaneously. This study is useful for the real time implementation of motion control of flexible manipulators with complex dynamic model of manipulators.