In actual production, the elastic deformation of parts of high-speed parallel manipulator will cause system vibration and increase internal stress, thereby reducing operation stability and accuracy of the manipulator. Therefore, it is of great significance to develop a universal dynamic modeling and analysis method for high-speed redundant parallel manipulators, and study the influence of elastic deformation on dynamic characteristics of the parallel manipulator. However, most scholars’ research on rigid-flexible coupling dynamics is mainly focused on simple planar mechanisms, while the research on spatially redundant high-speed parallel mechanisms, which are complex multibody systems with multiple closed-loop structures and degrees of freedom, is immature. Therefore, a universal modeling method and analysis method for rigid-flexible coupling dynamics of spatial redundant high-speed parallel mechanism is proposed in this paper. Taking the novel high-speed redundant parallel manipulator as research object, the rigid flexible coupling dynamic model of the mechanism is established, and the influence of elastic deformation on the performance of the parallel manipulator is studied. Firstly, a three-dimensional two node beam element model is developed based on Absolute Nodal Coordinate Formulation (ANCF) method. Then, rigid flexible coupling dynamic model of the novel high-speed redundant parallel manipulator is developed by using Lagrange multiplier method, and the generalized- method is used to solve dynamic equation. Through simulation comparison with ADAMS, the correctness of dynamic equation is verified. Finally, the effect of different factors on dynamic characteristics of the redundant parallel manipulator is analyzed. The purpose of this paper is to propose a rigid flexible coupling dynamic modeling and analysis method for high-speed redundant parallel manipulators, and explore the effect of elastic deformation on overall performance of the novel parallel manipulator, which lays a foundation for the design, development and application of spatially high-speed redundant parallel manipulators.
Chen et al. (2025) studied this question.