Solving stiffness and deformation of a 3-UPU parallel manipulator with one translation and two rotations

摘要

The stiffness modeling and elastic deformation of 3 degrees of freedom, 3-universal joints-prismatic pairs-universal joints (UPU) parallel manipulator (PM) with one translation and two rotations are studied. First, the constraint wrenches are derived corresponding to the special orientation of universal joints in each of the UPU legs. Second, the elastic deformation of active legs produced by these active forces and constrained wrenches are derived. Third, a 6 x 6 Jacobian matrix is derived from constraint and active forces, and the statics is solved. Finally, the stiffness matrix of 3-UPU PM is established and its elastic deformation is solved.