Stiffness estimation of a parallel kinematic machine

摘要

This paper presents a simple yet comprehensive approach to quickly estimating the stiff- ness of a tripod-based parallel kinematic machine. This approach can be implemented in two steps. In the first step, the machine structure is decomposed into two substructures associated with the machine frame and parallel mechanism. The stiffness models of these two substructures are formulated by means of virtual work principle.