Structural analysis of a high speed parallel manipulator

摘要

High speed parallel kinematic machines have to be designed to have very small weight because they experience very high level of acceleration and deceleration and the heavy weight requires high driving power. In this reason, high speed parallel kinematic machines have very slender mechanical design and the total weight of the moving parts is very small. This can cause vibrational phenomenon and it can keep the parallel machine from moving very fast. For this reason, the authors researched on this problem. In this paper, the research results will be introduced.