Kinematic Modeling and Analysis of a Planar Flexible Parallel Robot with Large-Deformation Links

In this paper, kinematic modeling and analysis of a planar flexible parallel robot with large-deformation links are presented via the Beam Constraint Model (BCM). The planar parallel robot uses flexible panels to form the closed-loop branch chains and its moving platform is actuated by the bending deflection of the panels. For kinematic analysis, first the geometric constraints and load equilibrium equations of the moving platform are formulated. Then, the flexible panels with large deformation are modeled as Euler-Bernoulli beams, and the relationship between the force/moment and the deflection of flexible panels is established via BCM. By combing the load equilibrium equations, the analytic formulation of kinematics can be derived. Numerical simulation and the comparison with the finite element analysis (FEA) have been presented to demonstrate the effectiveness of the proposed method.