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Based on the cooperative thought, a method of modeling and simulation of multi-flexible-body dynamics for a kind of mechanism is proposed in this paper. A multi-flexible-body dynamics simulation model of 3TPT parallel robot is created, and its multi-body dynamics simulation is implemented by using the multibody dynamics simulation software ADAMS and finite element analysis software ANSYS. For more accurate explanation of the analysis, simulation results of rigid body are compared with those of flexible body. The simulation results have shown that forces applied on flexible bodies are highly nonlinear because of the flexible characteristics, which is consistent with the reality. Compared with other simulation method, the simulation proposed of the multi-flexible body system are more authentic, nicety and can reflect actual dynamics characteristic of parallel robot with more accuracy. Therefore this is an effective method of analysis for design and optimization of parallel robot.

COOPERATIVE MODELING AND DYNAMICS SIMULATION OF FLEXIBLE MULTI-BODY SYSTEM FOR PARALLEL ROBOT