Multibody dynamics of nonsymmetric planar 3PRR parallel manipulator with fully flexible links

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This paper presents the implementation of the floating frame of reference formulation to model the flexible multibody dynamics of a nonsymmetric planar 3PRR parallel manipulator. All of the links, including the moving platform, of the manipulator under study are assumed flexible whereas the joints are assumed rigid. Using the Euler-Bernoulli beam, the flexibility of the links is modeled by using the Rayleigh-Ritz and finite element approximations. In both approximations, fixed-free boundary conditions are applied to the elastic coordinates of the links. These boundary conditions enable the evaluation of the elastic displacement at a link tip coincident with the end-effector of the manipulator which is of interest in the high precision robotics application. Both the approximations were compared by applying two different types of loads to the manipulator. It is shown that the elastic displacements obtained by using both the approximations have an agreement with a slight difference in the magnitude. In addition, the sensitivity analysis shows that the rigidity of the manipulator is much affected by the in-plane depth of the manipulator links' cross section.

Original languageBritish English
Article number4816
JournalApplied Sciences (Switzerland)
Issue number14
StatePublished - Jul 2020


  • 3PRR
  • FFRF
  • Finite element
  • Flexible dynamics
  • Flexible multibody dynamics
  • Floating frame of reference formulation
  • Parallel manipulator
  • Parallel mechanism
  • Rayleigh-ritz


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