Abstract
To address the issue of complicated dynamics modeling and difficult solution of 3-RRR flexible parallel robot, we propose a method of building a flexible parallel robot dynamics model using screw bond graph. Firstly, the structure of the flexible parallel robot is analyzed; secondly, the multi-energy domain dynamics model of the robot is built using screw bond graph and vector bond graph considering the elastomeric transformation in the middle flexible linkage; finally, based on the model, the closed-loop control strategy for suppressing harmful vibration of the system, and the speed loop error compensation for different control parameters is also studied. Author establishes the vector bond and spin bond conversion junction type based on the power conservation transfer principle, which realizes the combination of rigid and flexible system in this paper. And we construct the dynamical model of multi-energy domain flexible parallel robot system.
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