Abstract
Static performance evaluation is one of the most important issues during the design stage of tripod parallel kinematic machines. Taken the 1T2R tripods as examples, this article proposes two improved static performance indices, namely, local dexterity stiffness index and global dexterity stiffness index. By combining the local dexterity formulation and the eigenstiffness matrix, the two indices can be derived, which considers both the kinematic dexterity and the static rigidity of the tripod parallel kinematic machines. Based on this concept, the indices of local dexterity stiffness index and global dexterity stiffness index are defined for the local and global static performance of the parallel kinematic machines, respectively. With the index of local dexterity stiffness index, the static performance distribution of an Exechon parallel kinematic machine over its entire workspace is predicted, and an optimal workspace is recommended. With the index of global dexterity stiffness index, the effects of desig...
Highlights
Compared with their counterpart of serial kinematic machines, parallel kinematic machines (PKMs) claim the conceptual advantages of high accuracy, low inertia, high rigidity as well as good dynamics
By checking through these ‘‘successful’’ PKM versions, one may find that most of them adopt a tripod arrangement consisting of three kinematic limb structures
Such a tripod arrangement can achieve one translational and two rotational (1T2R) movements; it is often incorporated with two sliding motions to construct a five-axis machining system
Summary
Compared with their counterpart of serial kinematic machines, parallel kinematic machines (PKMs) claim the conceptual advantages of high accuracy, low inertia, high rigidity as well as good dynamics. Realizing that the stiffness properties of a tripod PKM related to the principle stiffness values and the coupled stiffness values, the authors aim to present two improved comprehensive static performance indices LDSI and global dexterity stiffness index (GDSI).
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