The double 1R pseudorigid body model of the compliant joint was put forward for the first time based on the pseudorigidbody model of the initial bending beam. And a dynamic equation of parallel robot system with compliant joints was proposed based on Lagrange method and the virtual cutting method. The dynamic response was obtained numerically. It is shown that there were lowamplitude highfrequency vibrations on the basis of the desired results in the theoretical results, while there was no apparent highfrequency vibration in the results of the simplified model. It indicated that the theoretical model was better than the simple model to reflect the characteristics of such rigidflexible coupling system. Simultaneously, ADAMS-ANSYS united simulation model and the experimental system were accomplished. And the theoretical trajectory was compared with simulation and the experimental trajectory, respectively. The maximum relative errors were 2.41% and 4.69%, respectively, which proved the correctness and validity of the theoretical model.
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李 渊,余跃庆.柔顺关节并联机器人动力学模型[J].农业机械学报,2015,46(7):345-353. Li Yuan, Yu Yueqing. Dynamic Model of Parallel Robot with Compliant Joints[J]. Transactions of the Chinese Society for Agricultural Machinery,2015,46(7):345-353.