Nonlinear dynamics of flexible links in planar parallel robots using a new beam element

In the present research, a previously presented beam element in planar static problems is extended to planar dynamic problems. As investigated in the previous work of the author, formulation of the presented Euler-Bernoulli beam element is simpler and the beam element more efficient than similar elements in large deflection problems. In the present element, the main idea is estimating the dimensions of the body in the deformed configuration, instead of estimating its absolute or relative positions. Therefore, two parameters, the length and slope angle of the beam centroid curve, are selected to be estimated by interpolating polynomials. To verify the efficiency of the element, obtained results for the flexible pendulum are compared with previous works. Because of the simple and efficient formulation of the element, it can be efficiently used for dynamic analysis of planar flexible linkages, and especially in flexible parallel robots, which are the main aims of the present research. Finally, the inverse dynamic of the flexible 3-RRR parallel robot is presented.