Abstract:

In this paper, first, the finite element method is vel planar parallel manipulator with two degrees of freedom. employed to construct an elastodynamic model of a no- Next, on the basis of the proposed model, the distribution of the first four-order natural frequency of the manipulator in the workspace is analyzed. Then, the displacement error of the moving platform under the excitations of external forces and rigid inertial force is investigated. Finally, the maximum dynamic stress and its position at each time point are presented. The results show that the natural frequency of the manipulator is relevant to the configuration, that the displacement error of the moving platform is mainly caused by the rigid inertial force during a high-speed movement, and that the dynamic stress spectra of the flexible components of the manipulator are all amplitude variable.

Key words: high-speed parallel manipulator, elastic component, elastodynamicd, dynamic stress, natural frequency