Abstract
A novel 3-degrees of freedom (DOF) <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">RPU+UPU+SPU</i> parallel manipulator (PM) is proposed in this study, and its complete kinematics and stiffness are studied systematically. First, the architecture description is discussed, and the inverse and the forward positional posture analysis are studied based on the constraints in the PM. Second, the Jacobian matrix, the velocity model, the Hessian matrix and the acceleration model are derived in explicit and compact forms. Third, based on the virtual work principle, the static model and the deformation decompose method, the stiffness model is built. Meanwhile, the stiffness matrix and the compliance matrix are obtained. Finally, the correctness of the models built in this study are verified by simulative PMs. This study is expected to provide new ideas for the design of PM machine tools.
Highlights
As an essential branch of limited-degrees of freedom (DOF) parallel manipulator (PM), 3-DOF PMs have attracted much attention due to their excellent merits, such as simplicity in structure, low cost of manufacturing and easy control [1]
3-DOF PMs are widely used in the field of machine tool
One of the famous inventions is a 3PRS PM [2], which is the primary mechanism of Sprint Z3
Summary
As an essential branch of limited-DOF PMs, 3-DOF PMs have attracted much attention due to their excellent merits, such as simplicity in structure, low cost of manufacturing and easy control [1]. Each of the above method has its own merits, which lays solid foundations for this study For these reasons, this study proposes a novel asymmetric non-over-constraint 3-DOF RPU+UPU+SPU PM, the complete kinematics and stiffness analysis of this novel PM are carried out, and is expected to provide new ideas for the design of PM machine tools. This study proposes a novel asymmetric non-over-constraint 3-DOF RPU+UPU+SPU PM, the complete kinematics and stiffness analysis of this novel PM are carried out, and is expected to provide new ideas for the design of PM machine tools Since this novel PM has three different types of legs, and each leg contains different constraints, the researches of the complete kinematic analysis and stiffness analysis are still challenging works.
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