The Dynamics Analyse with Elastodynamics of a New 3-TPS Parallel Robot

The Purpose of the paper is establishment the elastodynamics equation of a new 3-TPS Parallel Robot.It is important foundation of dynamic analyse.The method of KED is used when the elastodynamics equation is established.The mathematics models of cell elastodynamics equation about main kinematics chains and every flexible pole in the parallel framework are set up.Base on the condition of transmogrification harmonize,every spur track is assembled together,and the collectivity equation is finished.Through an example calculating the first rank inherence frequency,we get a result that inherence frequency which locate symmetry line of work space is highter.