A feasible way to estimate the stiffness of a 3-HSS parallel kinematic machine (PKM) by finite element analysis (FEA) is presented. Taking into consideration the base, columns, carriages struts and the mobile platform, a FEA model for the whole machine is established by solving such problems as match between different element types and simulation of moving components. Later on, this approach is applied to a particular 3-HSS PKM, Linapod, and used to steer the conceptual design of the machine. Furthermore, experiments are made on radial and axial stiffness. By comparison, the FE analytical results show good agreement with experimental data.
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