A Mechanism Stiffness Distribution Method and its Application in Stewart Mechanism
Parallel kinematic Machine(PKM)is normally used for cutting or assembling in industrial processing,its stiffness property and dynamic vibration characteristics are vital to the precision of the final product.The proportion of the stiffness of each linkage in a manipulator will be considered by using vibrational energy analysis,the calculation is based on the natural vibra-tion analysis of the manipulator,where the amplitude of the first order vibration for the manipulator is taken as the target.A case study of Stewart parallel manipulator is given for illustration of the method.
Stiffness DistributionElastic Deformation EnergyNatural Frequency VibrationStewart Manipulator
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