Stiffness Modeling and Analysis of a 3-DOF Parallel Kinematic Machine

A new hierarchical approach for the optimal design of a 5-dof hybrid serial-parallel kinematic machine

“…Taking the Trimule with parameters in [30,31] as an example, distributions of the condition number over a working plane are depicted in Fig. 4.…”

“…Therefore, an elastodynamic model of this PKM should be proposed first. A stiffness model is presented in our previous work based on the substructure synthesis technique [31], which is proved with good accuracy when compared to finite element analysis. Inspired by the previous work [31], an elastodynamic model of this PKM is built in this paper.…”

“…Based on the optimal design variables in this paper and parameters in [30,31], performance comparison of the two Trimule robots is listed in Table 4. To make it reasonable, performance comparison is conducted in their whole task workspace.…”

“…To make it reasonable, performance comparison is conducted in their whole task workspace. As shown in Table 4, the Trimule robot in [30,31] presents better kinematic performance throughout its whole task workspace. On the contrary, the optimal one in this paper has better dynamic behaviors and stiffness throughout the whole task workspace even though its kinematic performance is not good as the one in [30,31].…”

A rapid performance evaluation approach for lower mobility hybrid robot based on gravity-center position

“…To further verify the validity of R G , as mentioned earlier, z = 800 mm plane was selected for comparative analysis of R G and the first-order natural frequency (f 1 ). 29 Figure 7 compares f 1 from the previous works literature 29 and R G for the 3UPS&UP, in the workspace of x 2 + y 2 300 2 mm. It can be seen that the spatial distribution of f 1 and R G have the same distribution trend within the plane of z = 800 mm.…”