The Vector Bond Graph Method for the Dynamic Modeling of 3-RSR Spatial Parallel Robot Mechanism

For improving the reliability and efficiency of the dynamic modeling and analysis for 3-RSR spatial parallel robot mechanism, the corresponding vector bond graph procedure is proposed. By assembling the vector bond graph model of spatial moving rigid body, spatial revolute joint and spherical joint, the vector bond graph model of 3-RSR spatial parallel robot mechanism is made. By effective augment method, the algebraic difficulty brought by differential causality and nonlinear junction structure in the automatic modeling of this spatial parallel robot mechanism is overcome. As a result, the computer automatic dynamic modeling and analysis of 3-RSR spatial parallel robot mechanism is realized by the corresponding algorithm, and the reliability and validity of the procedure proposed is illustrated.