Articles | Volume 13, issue 2
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,, 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,, 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,, 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,, 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,, 2017. 
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.