This paper presents a methodology to study the dynamic response of a parallel robot with multiple lubricated joints. Based on Gümbel’s boundary conditions, the hydrodynamic force of the journal bearing is calculated with the Pinkus–Sternlicht model. Considering the dynamic loads on the multiple lubricated joints, the Pinkus–Sternlicht model is modified to ensure numerical stability of the solution of the system’s equations. A comparative analysis of four joint force models is presented to show the advantages of the modified model for a 3-PRR (P and R represent prismatic and revolute pairs respectively and the underline of the P represents the actuated joint) parallel robot. The improvement in the numerical stability of the modified Pinkus–Sternlicht model is proven. Subsequently, the dynamic behavior of the 3-PRR parallel robot with multiple lubricated joints is analyzed comprehensively, compared with the 3-PRR parallel robot with multiple dry clearance joints. Simulation results demonstrate the validity of the dynamic methodology containing the modified Pinkus–Sternlicht model for the 3-PRR parallel robot with multiple lubricated joints. This dynamic methodology can illustrate the better periodicity of such parallel robots considering lubricated joints.

本文提出了一种方法，以研究具有多个润滑关节的并行机器人的动态响应。基于Gümbel的边界条件，可通过Pinkus-Sternlicht模型计算出轴颈轴承的流体动力。考虑到多个润滑接头上的动态载荷，对Pinkus-Sternlicht模型进行了修改，以确保系统方程解的数值稳定性。提出了对四个关节力模型的比较分析，以显示改进的模型对于3- P RR（P和R分别代表棱柱对和旋转对，P的下划线代表被驱动的关节）并联机器人的优势。改进的Pinkus–Sternlicht模型的数值稳定性得到了改进。随后，3的动态行为与具有多个干式间隙关节的3- P RR并联机器人相比，对具有多个润滑关节的P RR并联机器人进行了全面分析。仿真结果证明了包含改进的Pinkus-Sternlicht模型的动态方法对带有多个润滑关节的3- P RR并联机器人的有效性。这种动态方法论可以说明这种考虑润滑关节的并联机器人具有更好的周期性。