Kinematic and Dynamic Simulation of a 3DOF Parallel Robot

Abstract

This paper presents a kinematic and dynamic study of a 3DOF parallel structure of type 1PRRR+2PRPaR, with one decoupled motion and two coupled motions, composed by a mobile platform connected to the fixed base by three kinematic chains. A numerical simulation of the kinematic and dynamic behaviour of this parallel robot in the assumption of rigid links is presented comparatively with an equivalent structure with two flexible links, modelled with ADAMS AutoFlex module. The results show a significant influence of the natural flexibility of links on the effector speed and acceleration, along with large variation of the active forces in the three linear actuators. Thus, the results on the robot behaviour in the flexible links’ assumption are useful input data in and control systems.