Stiffness modeling and optimization analysis of a novel 6-dof collaborative parallel manipulator

Abstract

This article presents a novel 6-DOF cooperative parallel manipulator assembled by two independent 3-DOF parallel manipulators that can complete tasks through relative motion. It provides broader workspace, higher stiffness and better controllability for high precision machining demands compared to traditional parallel kinematics manipulator. The architectures of the two 3-DOF parallel manipulators are firstly stated, followed by inverse kinematics analysis and stiffness analysis through establishing global Jacobian matrix. Finally the cooperative parallel manipulator’s static stiffness and modal analysis are conducted. First order of natural frequency optimization is established so that optimal radius of drive rod can be achieved. Comparing the results before and after optimization, it can be seen that performances are obviously improved.