Kineto-Elastodynamic analysis of new high speed and high precision robotic mechanism

摘要

In the light of the characteristics of robotic mechanisms a Kineto-elastodynamic analysis was made for a new high speed and high precision 2-DOF planar parallel elastic linkage manipulator by combining the fixed-interface mode synthesis of substructures coupling and finite element analysis. Digital simulations were conducted with the parallel elastic linkage manipulator to mainly demonstrate dynamic response, natural frequency and corresponding damping. The simulation results are compared with the actual measurements made with the prototype of the robot to validate the effectiveness of the method proposed.