Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 16, issue 1
Articles | Volume 16, issue 1
https://doi.org/10.5194/ms-16-99-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-16-99-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 16, issue 1
Research article
 | 
10 Feb 2025
Research article |  | 10 Feb 2025

Elastodynamic modeling and analysis of a 4SRRR overconstrained parallel robot

Baoyu Wang, Yiyang Zhao, Chao Yang, Xudong Hu, and Yanzheng Zhao

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Short summary
This paper develops a 4SRRR quadruped wall-climbing robot for demanding on-site work in shipyards and steel-structure manufacturing. A dynamic analytical model is established, replacing Euler–Bernoulli beam elements with Timoshenko beam elements to analyze natural frequencies. Results show that with single-element rods, the error in the first three natural frequencies is under 3.5 %. These findings validate the model's accuracy and support real-world applications. 
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