A novel parallel recursive dynamics modeling method for robot with flexible bar-groups.

• Dynamics models of flexible link and flexible joint are established. • A novel parallel recursive dynamics modeling method is proposed. • Our approach is closer to actual situation, has higher algorithm efficiency and generality. Based on Hamilton equation of motion and Lagrange principle, this paper proposes a novel parallel recursive dynamics modeling method for robot with flexible bar-groups that comprise flexible link, flexible joint and joint clearance. Using the virtual joint velocity, constraint force impulse and derivative of canonical momentum, the dynamics model of flexible link is established, and the dynamics model of flexible joint is built by the generalized force and energy of flexible joint. Then, based on kinematics constraints and dynamics constraints, the general comprehensive dynamics model of robot with flexible bar-groups is obtained. Finally, the proposed dynamics modeling method is applied to Delta parallel robot and KUKA serial robot, compared with the existing dynamics modeling methods by experiments, our approach is not only closer to the actual situation, but also has higher algorithm efficiency and better universality, which can lay foundation for the prediction of dynamic characteristics, and achieve the accurate and efficient control for different types of robots. [ABSTRACT FROM AUTHOR]