Kinematics and Stiffness Characteristics of 3-PRP Planar Parallel Mechanism

摘要

This paper presents a kind of 3-PRP planar parallel mechanism (PPM). The kinematics property of 3-PRP PPM is analyzed. Its motion constraint equations are derived to analyze the positive and inverse kinematics of the mechanism using the coordinate transformation method. The positive and inverse kinematics of position are derived on the basis of kinematic analysis of the moving platform. It can figure out the velocity, acceleration of the moving platform and also the Jacobian matrix. The stiffness of 3-PRP PPM and stiffness components along the direction of X axis and Y axis and orientation angle θ are derived using the new conservative coordinate conversion stiffness matrix. The stiffness mapping curves inside workspace are drawn under the situation that orientation angle is given using Matlab software. The stiffness characteristics of 3-PRP PPM is analyzed based on the stiffness mapping curve.