Stiffness Analysis of 3-RPR Planar Parallel Mechanism to the Stiffness Control

摘要

The analytical stiffness equations of the 3-RPR planar parallel mechanism are derived in this paper based on the Conservative Congruence Transformation (CCT) stiffness matrix proposed in. Stiffness maps of the 3-RPR mechanism are plotted in order to show the behaviour of the stiffness with and without external forces. The stiffness characteristics of the mechanism are analyzed and discussed in details. Numerical examples show that the stiffness in x and in y are well balanced, while the stiffness in tends to be lower.