Stiffness Modeling of 3-PRS Mechanism

This paper proposed a stiffness analysis method for a 3-PRS mechanism for welding thick aluminum plate using FSW technology. In the molding process, elastic deformation of lead-screws and links are taken into account. This method is based on the virtual work principle. Through a survey of the commonly used stiffness performance indices, the minimum and maximum eigenvalues of the stiffness matrix are used to evaluate the stiffness of the 3-PRS mechanism. Furthermore, A FEA model has been constructed to verify the method. Finally, we redefined the workspace using the stiffness analysis method.

Authors:

• Xiaohui Han
• Yuhan Wang
• Jing Shi

Keywords:

• 3-PRS
• parallel mechanism
• stiffness analysis
• workspace.

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