Research on the rigidity of a three-pulley, two-universe (PUU) parallel kinematic machine

Abstract

In this paper, we characterize the rigidity of a 3-PUU translational parallel kinematic machine (PKM). A distinct method is used to build the
stiffness matrix for actuators, constraints, and leg compliance. Extreme levels of stiffness are used to assess the performance of rigidity
manipulators and the implications they have on the design process.The rigidity of the 3-PUU PKM was intentionally built into its structure,
which is a brilliant move. An eigenscrew decomposition of the PKM's stiffness matrix allows for the determination of the PKM's stiffness
center and compliant axis, thereby offering a physical interpretation of PKM stiffness.The kinematics and mechanical rigidity of parallel
manipulators