Dynamic finite-element analysis of a planar high-speed, high-precision parallel manipulator with flexible links

This paper presents the results of a dynamic finite element analysis of a planar fully parallel robot with flexible links. The method used leads to a set of linear ordinary differential equations of motion. Results show that, for a given high-speed motion, the configuration of the mechanism has a significant influence on the nature of the resultant elastic vibrations. This paper also includes a convergence analysis of the natural frequencies and a mapping of the first mode's natural frequency with respect to the robot configuration.