Articles | Volume 13, issue 2
https://doi.org/10.5194/ms-13-635-2022
https://doi.org/10.5194/ms-13-635-2022
Research article
 | 
20 Jul 2022
Research article |  | 20 Jul 2022

Stiffness analysis of a 3-DOF parallel mechanism for engineering special machining

Haiqiang Zhang, Jianglong Tang, Changtao Yan, Guohua Cui, Minghui Zhang, and Yan'an Yao

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Cited articles

Ali, R., Afshin, T., and Kamali, E. A.: On the stiffness analysis of robotic manipulators and calculation of stiffness indices, Mech. Mach. Theory, 130, 382–402, https://doi.org/10.1016/j.mechmachtheory.2018.08.025, 2018. 
Araujo-Gómez, P., Díaz-Rodríguez, M., and Mata, V.: Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator, J Braz. Soc. Mech. Sci. Eng., 41, 425–433, https://doi.org/10.1007/s40430-019-1934-1, 2019. 
Cao, W. A. and Ding, H.: A method for stiffness modeling of 3R2T over constrained parallel robotic mechanisms based on screw theory and strain energy, Precis. Eng., 51, 10–29, https://doi.org/10.1016/j.precisioneng.2017.07.002, 2017. 
Cao, W. A. and Ding, H. F.: A method for solving all joint reactions of 3R2T parallel mechanisms with complicated structures and multiple redundant constraints, Mech. Mach. Theory, 121, 718–730, https://doi.org/10.1016/j.mechmachtheory.2017.11.015, 2018. 
Cao, W. A., Ding, H. F., and Yang, D. H.: A method for compliance modeling of five degree-of-freedom overconstrained parallel robotic mechanisms with 3T2R output motion, J. Mech. Robot., 9, 1–11, https://doi.org/10.1115/1.4035270, 2017. 
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Short summary
To improve the stiffness performance of the parallel mechanism, this paper proposes a novel 3-DOF redundantly actuated 2RPU-2SPR parallel mechanism. What is more, the stiffness model of the parallel mechanism is deduced and the accuracy of the stiffness model is verified through finite-element analysis. Finally, the simulation experiment results demonstrate that the redundantly actuated parallel mechanism has better stiffness performance compared to a traditional 2RPU-SPR parallel mechanism.