Then, the kinematics and statics of the manipulator are studied, and a dynamic model of this parallel flexible system is established.
在此基础上分析了操作臂的运动学和静力学关系，建立了并联柔性系统的动力学模型。
A model of spatial flexible beam element was proposed, and the dynamic equations of elements and branches of the parallel manipulator were derived.
建立了一种空间柔性梁单元模型，推导了柔性梁单元的动力学方程和并联机器人支链的动力学方程。
The structural system of a 3-DOF flexible parallel manipulator is described, to which both the fixed and motional coordinate systems are set up.
三自由度柔性并联机械手的结构体系进行了描述，这两个固定及移动的坐标系统的设置。
Therefore, the research on the flexible parallel manipulator is of great theoretical significance and practical value.
因此，进行这方面的研究具有重要的理论意义和实用价值。
Therefore, the research on the flexible parallel manipulator is of great theoretical significance and practical value.
因此，进行这方面的研究具有重要的理论意义和实用价值。
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