The dynamic planning of the flexible parallel manipulators is discussed.Firstly the kinematics of the flexible parallel manipulator is analyzed.Secondly
the mathematical model of driving torque minimum was development.Finally
the dynamic planning of flexible parallel manipulator is analyzed through a numerical simulation.The results of numerical simulation show that the dynamic planning is applied to decrease the fluctuation of driving torques of the flexible parallel manipulator.The necessary information for dynamics performance analysis
control and engineering application of the flexible parallel manipulators is provided.