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Kinematic and Dynamic Analysis of Flexible-Link Parallel Robots by Means of an ERLS Approach

[+] Author Affiliations
Renato Vidoni

Free University of Bozen-Bolzano, Bolzano, Italy

Paolo Boscariol, Alessandro Gasparetto, Marco Giovagnoni

University of Udine, Udine, Italy

Paper No. DETC2012-70939, pp. 1449-1458; 10 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


The use of parallel kinematic structures allows to design light manipulators with higher dynamic performance with respect to serial robots. In this work, the issue of accurately modelling the dynamics of lightweight flexible-link parallel robots has been investigated. The Equivalent Rigid-Link System (ERLS) formulation, useful for describing the dynamic evolution of 3D serial robots with flexible-links, has been extended to Parallel-Kinematic-Machines (PKM) both from the theoretical and from the software implementation points of view. Standard robotics concepts of 3D kinematics are exploited to formulate and solve the ERLS kinematics, thus allowing to easily work with this formulation. A simulator, capable of predicting the deformations due to the elasticity of the links, has been developed and some industrial case-studies have been implemented to validate it. The formulation and the developed simulator will give the opportunity to extensively study the deformations of parallel manipulators, allow to predict the vibrations of the system, and, then, compensate them.

Copyright © 2012 by ASME



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