Abstract

A performance index of local dexterity stiffness index (LDSI) is proposed to consider both kinematic dexterity and static rigidity characteristics of a parallel kinematic machine (PKM). Based on the proposed index, the static performance of an Exe-Variant PKM module is predicted in a quick manner. Since the proposed LDSI is a dimensional index, a dimensionless global index is further presented to optimize the geometric parameters of the PKM module. An optimal searching algorithm is used to obtain reasonable radii of the moving platform and the fixed base of Exe-Variant PKM.

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