Abstract: The high stiffness is required when the lower DOF parallel manipulator is used in the machine tool. The stiffness matrix of lower DOF ara manipulator depends on the Jacobian matrix. The Jacobian matrix of 4-RUC parallel manipulator is derived by screw theory. According to the Jacobian matrix, the stiffness matrix and the condition of parallel manipulator can be founded. The direction of the maximum and minmum stiffness when the parallel manipulator lies in fixed place is described. The stiffness curves show the maximal and minimal stiffness of parallel manipulator when the parallel manipulator lies in z = 0. The stiffness in the fixed direction offers the evidence for the use of parallel manipulator.
Key words: Parallel manipulator Stiffness
Jacobian matrix Screw theory
CLC No: TP242
国家自然科学基金资助项目(50375001). Received 20051027, received in revised form 20060310
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