Abstract
Stiffness features of the parallel kinematics machines (PKM) are considered. To overcome the difficulties caused by heterogeneous units of measurement of the Cartesian stiffness matrix entries, a new performance index – the collinear stiffness value (CSV) – is applied. The CSV gives natural stiffness evaluation in both regular and singular configurations. Effective computation procedures for a search for the minimum–maximum CSV are developed. The minimum CSV is applied to construct a PKM workspace satisfying preliminary given stiffness limits and compute a virtual protective barrier, keeping the PKM mechanism from approaching the vicinity of singular configurations. As an application example, the CSV-based local and global stiffness features of the Gough–Stewart platform mechanism are simulated, investigated, and visualized.
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