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In this section, dynamic responses of planar 3-[R.bar]RR flexible parallel robots are studied using the ZOAC model and FOAC model, comparing influences of the dynamic stiffening term on dynamic response under the different speeds of the moving platform.
Figure 4 shows elastic displacements and rotation angle of the moving platform with respect to four motion cycles based on the ZOAC model and the FOAC model when w = 10[pi] rad/s, respectively.
Form Figures 4,5, and 6(a), we can find that the numerical results are very close using the ZOAC model and the FOAC model.
Figures 8(a), 8(b), and 8(c) are elastic displacements and rotation angle of the moving platform with respect to four motion cycles using the ZOAC model and the FOAC model when w = 350[pi] rad/s, respectively.