Abstract
A novel 2R1T (two rotational and one translational degrees-of-freedom) parallel spindle head (PSH) without parasitic motion is proposed which is based on the specific 3-UPU (P and U stand for prismatic joint and universal joint, respectively) parallel mechanism (PM). A modified virtual joint method (VJM) is proposed to solve the deformation analysis of this special PM whose action points of constraint forces are not directly on the solid structure of the mechanism in the gravitational field. Meanwhile, to obtain the relationship between the compliance of the prismatic joint and its length, a Response-Surface-based automation method is proposed with ANSYS workbench software. The workspace of the mechanism is drawn, and the deformation of the mechanism in the gravitational field is obtained within the sub-workspace of full-circle-rotation. The improvement scheme of reducing the deformation of the PSH is proposed.
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