Design and trajectory control of a 2-DOF planar parallel manipulator with flexible links using assumed mode method

Lightweight parallel manipulator’s interests have been increased due to their benefits over rigid ones. Moreover, at high operational speeds structuralflexibility effects are much more considerable. In this manner, developing a proper model to assess the kinematic and dynamic characteristics of structuralflexible parallel mechanisms with the purpose of developing a productive vibration control is outstanding demand. Accordingly, This paper represents thekinematic and dynamic modeling of the 2-PRRRRP planar parallel manipulator with two flexible links,using the assumed mode method modeling andLagrange equations of the first type approach. Dealing with the complicated nonlinear equations is a major goal. The flexible link is designed and modeled in Abaqus software then the simulations are analyzed in MSC.ADAMS coupling with Matlab/Simulink.Furthermore, the computed torque control method is performed toward establishing a profitable vibration control. The results of simulation for the full circulardesired trajectory indicate the productivity of the approach in modeling the flexibility of the links.

Keywords:

Parallel Manipulator , Assumed Mode Method , MSC.ADAMS , Nonlinear Equations