No abstract

The authors propose a model of the elastodynamics of the Peppermill Carrier (PMC), a parallel isostatic Schönflies-motion generator designed for pick-and-place operations. The Cartesian spring and the finite element method are used to build the elastodynamics model of the robot. The stiffness and mass matrices are introduced to obtain the natural frequencies of the robot along a test trajectory---the Adept test cycle---that serves to evaluate the performance of the robot with respect to the operation speed.