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Equivalent integrated finite element method is a canonical and efficient modeling method in dynamic analysis of complex mechanism. The key of establishing dynamic equations of spatial mechanism by the method is to confirm Jacobian matrix reflecting relations of all joints,nodes,and generalized coordinates,namely,relations of second-order and corresponding third-order conversion tensors. For complex motion relations of components in a parallel robot,it gives second-order and third-order conversion tensors of dynamic equations for the 6-HTRT parallel robot based on equivalent integrated finite element method. The method is suitable for the typical robots whose positions of work space and sizes of mechanism are different. The solving course of the method is simple and convenient,so the method lays the foundation of dynamic analysis for robots.
Equivalent integrated finite element method is a canonical and efficient modeling method in dynamic analysis of complex mechanism. The key of establishing dynamic equations of spatial mechanism by the method is to confirm Jacobian matrix reflecting relations of all joints, nodes, and generalized coordinates, namely, relations of second-order and corresponding third-order conversion tensors. For complex motion relations of components in a parallel robot, it gives second-order and third-order conversion tensors of dynamic equations for the 6-HTRT parallel robot based on equivalent integrated finite The method is suitable for the typical robots whose positions are work space and sizes of mechanism are different. The solving course of the method is simple and convenient, so the method lays the foundation of dynamic analysis for robots.